Professional Documents
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Mechanical Installation
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Start-Up Programming &
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MEMOBUS/Modbus
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Standards Compliance
Quick Reference Sheet
MANUAL NO. SIEP C710616 21C
To properly use the product, read this manual thoroughly and retain
for easy reference, inspection, and maintenance. Ensure the end user
receives this manual.
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2
3
4
5
6
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8
A
B
C
D
E
YASKAWA AC Drive A1000
High Performance Vector Control Drive
Technical Manual
Type: CIMR-AA , CIMR-AB ,
CIMR-AT
Models: 200 V Class: 0.4 to 110 kW
400 V Class: 0.4 to 355 kW
2 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Copyright 2008 YASKAWA ELECTRIC CORPORATION.
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted,
in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior
written permission of Yaskawa. No patent liability is assumed with respect to the use of the information
contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the
information contained in this manual is subject to change without notice. Every precaution has been taken in
the preparation of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions.
Neither is any liability assumed for damages resulting from the use of the information contained in this
publication.
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 3
Quick Reference
Easily Set Parameters for Specific Applications
Preset parameter defaults are available for setting up applications. Refer to Application Selection on page 108.
Run a Motor One-Frame Larger
This drive can operate a motor one frame size larger when running variable torque loads such as fans and pumps. Refer to C6-01: Drive Duty Mode Selection on page 178.
Drive a Synchronous PM Motor
A1000 can operate synchronous PM motors. Refer to Subchart A-3: Operation with Permanent Magnet Motors on page 106.
Perform Auto-Tuning
Automatic tuning sets motor parameters. Refer to Auto-Tuning on page 114.
Maintenance Check Using Drive Monitors
Use drive monitors to check the if fans, capacitors, and other components may require maintenance. Refer to Performance Life Monitors Maintenance Monitors on page 353.
Fault Display and Troubleshooting
Refer to Drive Alarms, Faults, and Errors on page 304 and Refer to Troubleshooting without Fault Display on page 340.
Standards Compliance
Refer to European Standards on page 520 and Refer to UL Standards on page 526.
4 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 5
Table of Contents
Quick Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
I. PREFACE & GENERAL SAFETY ....................................................................... 15
i.1 Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Applicable Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Terms and Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
i.2 General Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Supplemental Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Safety Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Application Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Notes on Motor Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Applications with Specialized Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Drive Label Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Warranty Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
1. RECEIVING.......................................................................................................... 27
1.1 Section Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
1.2 General Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
A1000 Model Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Control Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
1.3 Model Number and Nameplate Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Nameplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
1.4 Drive Models and Enclosure Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
1.5 Component Names. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
IP20/NEMA Type 1 Enclosure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
IP00 Enclosure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Front Views . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
2. MECHANICAL INSTALLATION .......................................................................... 39
2.1 Section Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
2.2 Mechanical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Installation Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Installation Orientation and Spacing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Digital Operator Remote Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Exterior and Mounting Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
6 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
3. ELECTRICAL INSTALLATION............................................................................ 53
3.1 Section Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54
3.2 Standard Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .56
3.3 Main Circuit Connection Diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .58
Three-Phase 200 V Class (CIMR-A2A0004 to 0081)
Three-Phase 400 V Class (CIMR-A4A0002 to 0044) . . . . . . . . . . . . . . . . . . . . . . . .58
Three-Phase 200 V Class (CIMR-A2A0110, 0138)
Three-Phase 400 V Class (CIMR-A4A0058, 0072) . . . . . . . . . . . . . . . . . . . . . . . . . .58
Three-Phase 200 V Class (CIMR-A2A0169 to 0415)
Three-Phase 400 V Class (CIMR-A4A0088 to 0675) . . . . . . . . . . . . . . . . . . . . . . . .58
3.4 Terminal Block Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59
3.5 Terminal Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61
CIMR-A2A0004 to 0081, 4A0002 to 0044 (IP20/NEMA Type 1 Enclosure) . . . . . . .61
CIMR-A2A0110 to 0415, 4A0058 to 0675 (IP00 Enclosure) . . . . . . . . . . . . . . . . . . .62
3.6 Digital Operator and Front Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63
Removing/Reattaching the Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63
Removing/Reattaching the Front Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63
3.7 Top Protective Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .66
Removing the Top Protective Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .66
Reattaching the Top Protective Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .66
3.8 Main Circuit Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .67
Main Circuit Terminal Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .67
Protecting Main Circuit Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .67
Wire Gauges and Tightening Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .68
Main Circuit Terminal and Motor Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73
3.9 Control Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75
Control Circuit Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75
Control Circuit Terminal Block Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .76
Terminal Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .78
Wiring the Control Circuit Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .79
3.10 Control I/O Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .81
Sinking/Sourcing Mode Switch for Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . .81
Using the Photocoupler and Contact Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .83
Using the Pulse Train Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .83
3.11 Terminal A2 Analog Input Signal Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85
Terminal A2 Input Signal Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85
3.12 Connect to a PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .86
3.13 MEMOBUS/Modbus Termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .87
3.14 External Interlock. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .88
Drive Ready . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .88
3.15 Wiring Checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .89
4. START-UP PROGRAMMING & OPERATION .................................................... 91
4.1 Section Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .92
4.2 Using the Digital Operator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .93
Keys and Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .93
Digital Text Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .94
LED Screen Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .94
LO/RE LED and RUN LED Indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .95
Menu Structure for Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .96
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 7
4.3 The Drive and Programming Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Navigating the Drive and Programming Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Changing Parameter Settings or Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Verifying Parameter Changes: Verify Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Simplified Setup Using the Setup Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Switching Between LOCAL and REMOTE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
4.4 Start-Up Flowcharts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Flowchart A: Basic Start-up and Motor Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Subchart A-1: Simple Motor Setup Using V/f Control . . . . . . . . . . . . . . . . . . . . . . . . 104
Subchart A-2: High Performance Operation Using OLV or CLV . . . . . . . . . . . . . . . . 105
Subchart A-3: Operation with Permanent Magnet Motors . . . . . . . . . . . . . . . . . . . . . 106
4.5 Powering Up the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Powering Up the Drive and Operation Status Display . . . . . . . . . . . . . . . . . . . . . . . . 107
4.6 Application Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Setting 1: Water Supply Pump Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Setting 2: Conveyor Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Setting 3: Exhaust Fan Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Setting 4: HVAC Fan Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Setting 5: Compressor Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Setting 6: Hoist Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Notes on Controlling the Brake when Using the Hoist Application Preset . . . . . . . . . 111
Setting 7: Traveling Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
4.7 Auto-Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Types of Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Before Auto-Tuning the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Auto-Tuning Interruption and Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Auto-Tuning Operation Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Parameter Settings during Induction Motor Auto-Tuning: T1 . . . . . . . . . . . . . . . . . . . 119
Parameter Settings during PM Motor Auto-Tuning: T2 . . . . . . . . . . . . . . . . . . . . . . . 121
Parameter Settings during Inertia and Speed Control Loop Auto-Tuning: T3 . . . . . . 123
4.8 No-Load Operation Test Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
No-Load Operation Test Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
4.9 Test Run with Load Connected . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Test Run with the Load Connected . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
4.10 Verifying Parameter Settings and Backing Up Changes. . . . . . . . . . . . . . . . . . 127
Backing Up Parameter Values: o2-03 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Parameter Access Level: A1-01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Password Settings: A1-04, A1-05 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Copy Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
4.11 Test Run Checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
5. PARAMETER DETAILS..................................................................................... 131
5.1 A: Initialization. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
A1: Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
A2: User Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
5.2 b: Application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
b1: Operation Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
b2: DC Injection Braking and Short Circuit Braking . . . . . . . . . . . . . . . . . . . . . . . . . . 144
b3: Speed Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
b4: Delay Timers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
b5: PID Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
b6: Dwell Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
b7: Droop Control (CLV, CLV/PM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
b8: Energy Saving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
b9: Zero Servo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
8 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
5.3 C: Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .166
C1: Acceleration and Deceleration Times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .166
C2: S-Curve Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .168
C3: Slip Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .168
C4: Torque Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .171
C5: Automatic Speed Regulator (ASR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .173
C6: Carrier Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .178
5.4 d: Reference Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .182
d1: Frequency Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .182
d2: Frequency Upper/Lower Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .184
d3: Jump Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .184
d4: Frequency Reference Hold and Up/Down 2 Function . . . . . . . . . . . . . . . . . . . . .185
d5: Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .190
d6: Field Weakening and Field Forcing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .194
d7: Offset Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .195
5.5 E: Motor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .196
E1: V/f Pattern for Motor 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .196
E2: Motor 1 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .201
E3: V/f Pattern for Motor 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .204
E4: Motor 2 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .205
E5: PM Motor Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .207
5.6 F: Option Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .209
F1: PG Speed Control Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .209
F2: Analog Input Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .212
F3: Digital Input Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .212
F4: Analog Monitor Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .213
F5: Digital Output Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .214
F6: Communication Option Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .214
CC-Link Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .216
MECHATROLINK Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .216
PROFIBUS-DP Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .216
CANopen Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .216
DeviceNet Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .216
5.7 H: Terminal Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .217
H1: Multi-Function Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .217
H2: Multi-Function Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .227
H3: Multi-Function Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .237
H4: Multi-Function Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .242
H5: MEMOBUS/Modbus Serial Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . .244
H6: Pulse Train Input/Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .244
5.8 L: Protection Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .247
L1: Motor Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .247
L2: Momentary Power Loss Ride-Thru . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .252
L3: Stall Prevention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .259
L4: Speed Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .265
L5: Fault Restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .266
L6: Torque Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .267
L7: Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .270
L8: Drive Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .272
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 9
5.9 n: Special Adjustments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
n1: Hunting Prevention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
n2: Speed Feedback Detection Control (AFR) Tuning . . . . . . . . . . . . . . . . . . . . . . . 279
n3: High Slip Braking (HSB) and Overexcitation Braking . . . . . . . . . . . . . . . . . . . . . 279
n5: Feed Forward Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
n6: Online Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
n8: PM Motor Control Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
5.10 o: Operator Related Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
o1: Digital Operator Display Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
o2: Digital Operator Keypad Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
o3: Copy Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
o4: Maintenance Monitor Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291
q: DriveWorksEZ Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
r: DriveWorksEZ Connection Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
T: Motor Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
5.11 U: Monitor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
U1: Operation Status Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
U2: Fault Trace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
U3: Fault History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
U4: Maintenance Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
U5: PID Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
U6: Operation Status Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
U8: DriveWorksEZ Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295
6. TROUBLESHOOTING....................................................................................... 297
6.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
6.2 Motor Performance Fine-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
Fine-Tuning V/f Control and V/f Control with PG . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
Fine-Tuning Open Loop Vector Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
Fine-Tuning Closed Loop Vector Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
Fine-Tuning Open Loop Vector Control for PM Motors . . . . . . . . . . . . . . . . . . . . . . . 301
Fine-Tuning Advanced Open Loop Vector Control for PM Motors . . . . . . . . . . . . . . 302
Fine-Tuning Closed Loop Vector Control for PM Motors . . . . . . . . . . . . . . . . . . . . . . 302
Parameters to Minimize Motor Hunting and Oscillation . . . . . . . . . . . . . . . . . . . . . . . 303
6.3 Drive Alarms, Faults, and Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304
Types of Alarms, Faults, and Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304
Alarm and Error Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
6.4 Fault Detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310
Fault Displays, Causes, and Possible Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310
6.5 Alarm Detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
Alarm Codes, Causes, and Possible Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
6.6 Operator Programming Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329
oPE Codes, Causes, and Possible Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329
6.7 Auto-Tuning Fault Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332
Auto-Tuning Codes, Causes, and Possible Solutions . . . . . . . . . . . . . . . . . . . . . . . . 332
6.8 Copy Function Related Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
Tasks, Errors, and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
6.9 Diagnosing and Resetting Faults. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
Fault Occurs Simultaneously with Power Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
If the Drive Still has Power After a Fault Occurs . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
Viewing Fault Trace Data After Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
Fault Reset Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
10 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
6.10 Troubleshooting without Fault Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .340
Common Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .340
Cannot Change Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .340
Motor Does Not Rotate Properly after Pressing RUN Button or after
Entering External Run Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .341
Motor is Too Hot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .342
Drive Does Not Allow Selection the Desired Auto-Tuning Mode . . . . . . . . . . . . . . . .342
oPE02 Error Occurs When Lowering the Motor Rated Current Setting . . . . . . . . . . .342
Motor Stalls during Acceleration or Acceleration Time is Too Long . . . . . . . . . . . . . .342
Drive Frequency Reference Differs from the Controller
Frequency Reference Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .343
Excessive Motor Oscillation and Erratic Rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . .343
Deceleration Takes Longer Than Expected with Dynamic Braking Enabled . . . . . . .343
Load Falls When Brake is Applied (Hoist-Type Applications) . . . . . . . . . . . . . . . . . . .343
Noise From Drive or Output Lines When the Drive is Powered On . . . . . . . . . . . . . .344
Earth Leakage Circuit Breaker (ELCB) Trips During Run . . . . . . . . . . . . . . . . . . . . . .344
Connected Machinery Vibrates When Motor Rotates . . . . . . . . . . . . . . . . . . . . . . . .344
PID Output Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .344
Insufficient Starting Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .344
Motor Rotates After the Drive Output is Shut Off
(Motor Rotates During DC Injection Braking) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .345
Output Frequency is not as High as Frequency Reference . . . . . . . . . . . . . . . . . . . .345
Buzzing Sound from Motor at 2 kHz . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .345
Unstable Motor Speed when Using PM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .345
Motor Does Not Restart after Power Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .345
7. PERIODIC INSPECTION & MAINTENANCE .................................................... 347
7.1 Section Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .348
7.2 Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .351
Recommended Daily Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .351
Recommended Periodic Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .352
7.3 Periodic Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .353
Replacement Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .353
7.4 Cooling Fan and Circulation Fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .355
Number of Fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .355
Cooling Fan Component Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .356
Cooling Fan Replacement: 2A0018 to 2A0081 and 4A0007 to 4A0044 . . . . . . . . . .357
Cooling Fan Replacement: 2A0110 and 2A0138, 4A0058 and 4A0072 . . . . . . . . . .359
Cooling Fan Replacement: 4A0088 and 4A0103 . . . . . . . . . . . . . . . . . . . . . . . . . . . .361
Cooling Fan Replacement: 2A0169 to 2A0415, 4A0139 to 4A0362 . . . . . . . . . . . . .363
Cooling Fan Replacement: 4A0414 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .367
Cooling Fan Replacement: 4A0515 and 4A0675 . . . . . . . . . . . . . . . . . . . . . . . . . . . .369
7.5 Drive Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .373
Serviceable Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .373
Terminal Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .373
Replacing the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .374
8. PERIPHERAL DEVICES & OPTIONS .............................................................. 377
8.1 Section Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .378
8.2 Drive Options and Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .379
8.3 Connecting Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .382
8.4 Option Card Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .383
Installing Option Cards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .383
Installation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .383
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 11
8.5 Installing Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
Dynamic Braking Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
Installing a Molded Case Circuit Breaker (MCCB) and Earth Leakage
Circuit Breaker (ELCB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
Installing a Magnetic Contactor at the Power Supply Side . . . . . . . . . . . . . . . . . . . . 388
Connecting an AC or DC Reactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
Connecting a Surge Absorber . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
Connecting a Noise Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 390
Fuse/Fuse Holder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
Attachment for External Heatsink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392
EMC Filter Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392
Installing a Motor Thermal Overload (oL) Relay on the Drive Output . . . . . . . . . . . . 392
A. SPECIFICATIONS.............................................................................................. 395
A.1 Heavy Duty and Normal Duty Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 396
A.2 Three-Phase 200 V Class Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397
A.3 Three-Phase 400 V Class Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398
A.4 Drive Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
A.5 Drive Watt Loss Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 401
A.6 Drive Derating Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 402
Carrier Frequency Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 402
Temperature Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403
Altitude Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404
B. PARAMETER LIST............................................................................................ 405
B.1 Understanding the Parameter Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 406
Control Modes, Symbols, and Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 406
B.2 Parameter Groups. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407
B.3 Parameter Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 408
A: Initialization Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 408
b: Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 409
C: Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414
d: References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419
E: Motor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 422
F: Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 426
H Parameters: Multi-Function Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431
L: Protection Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442
n: Special Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447
o: Operator Related Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450
q: DriveWorksEZ Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 452
r: DriveWorksEZ Connection Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 452
T: Motor Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 452
U: Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455
B.4 Control Mode Dependent Parameter Default Values. . . . . . . . . . . . . . . . . . . . . . 462
A1-02 (Motor 1 Control Mode) Dependent Parameters . . . . . . . . . . . . . . . . . . . . . . . 462
E3-01 (Motor 2 Control Mode) Dependent Parameters . . . . . . . . . . . . . . . . . . . . . . . 463
B.5 V/f Pattern Default Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 464
B.6 Defaults by Drive Model Selection (o2-04) and ND/HD (C6-01) . . . . . . . . . . . . . 466
B.7 Parameters that Change with the Motor Code Selection . . . . . . . . . . . . . . . . . . 472
YASKAWA SMRA Series SPM Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 472
YASKAWA SSR1 Series IPM Motor (For Derated Torque) . . . . . . . . . . . . . . . . . . . . 473
YASKAWA SST4 Series IPM Motor (For Constant Torque) . . . . . . . . . . . . . . . . . . . 479
12 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
C. MEMOBUS/MODBUS COMMUNICATIONS...................................................... 487
C.1 MEMOBUS/Modbus Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .488
C.2 Communication Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .489
C.3 Connecting to a Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .490
Network Cable Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .490
Wiring Diagram for Multiple Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .490
Network Termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .491
C.4 MEMOBUS/Modbus Setup Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .492
MEMOBUS/Modbus Serial Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .492
C.5 Drive Operations by MEMOBUS/Modbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .495
Observing the Drive Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .495
Controlling the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .495
C.6 Communications Timing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .496
Command Messages from Master to Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .496
Response Messages from Drive to Master . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .496
C.7 Message Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .497
Message Content . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .497
Slave Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .497
Function Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .497
Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .497
Error Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .497
C.8 Message Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .499
Reading Drive MEMOBUS/Modbus Register Contents . . . . . . . . . . . . . . . . . . . . . . .499
Loopback Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .499
Writing to Multiple Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .500
C.9 MEMOBUS/Modbus Data Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .501
Command Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .501
Monitor Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .502
Broadcast Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .510
Fault Trace Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .510
Alarm Register Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .511
C.10 Enter Command. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .513
Enter Command Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .513
Enter Command Settings when Upgrading the Drive . . . . . . . . . . . . . . . . . . . . . . . . .513
C.11 Communication Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .514
MEMOBUS/Modbus Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .514
Slave Not Responding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .514
C.12 Self-Diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .515
D. STANDARDS COMPLIANCE ............................................................................ 517
D.1 Section Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .518
D.2 European Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .520
CE Low Voltage Directive Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .520
EMC Guidelines Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .521
D.3 UL Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .526
UL Standards Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .526
Drive Motor Overload Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .528
D.4 Safe Disable Input Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .530
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .530
Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .530
Using the Safe Disable Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .530
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 13
E. QUICK REFERENCE SHEET............................................................................ 533
E.1 Drive and Motor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534
Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534
Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534
E.2 Multi-Function I/O Terminal Settings Record. . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
Multi-Function Digital Inputs (SC Common) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
Pulse Train Input/Analog Inputs (AC Common) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
Multi-Function Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
Multi-Function Photocoupler Outputs (PC Common) . . . . . . . . . . . . . . . . . . . . . . . . . 535
Monitor Outputs (AC Common) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
E.3 User Setting Table. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 536
Index ............................................................................................................................ 541
Revision History .......................................................................................................... 555
14 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
i
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 15
Preface & General Safety
This section provides safety messages pertinent to this product that, if not heeded, may result
in fatality, personal injury, or equipment damage. Yaskawa is not responsible for the
consequences of ignoring these instructions.
I.1 PREFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
I.2 GENERAL SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
16 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
i.1 Preface
i.1 Preface
Yaskawa manufactures products used as components in a wide variety of industrial systems and equipment. The selection
and application of Yaskawa products remain the responsibility of the equipment manufacturer or end user. Yaskawa
accepts no responsibility for the way its products are incorporated into the final system design. Under no circumstances
should any Yaskawa product be incorporated into any product or design as the exclusive or sole safety control. Without
exception, all controls should be designed to detect faults dynamically and fail safely under all circumstances. All
systems or equipment designed to incorporate a product manufactured by Yaskawa must be supplied to the end user with
appropriate warnings and instructions as to the safe use and operation of that part. Any warnings provided by Yaskawa
must be promptly provided to the end user. Yaskawa offers an express warranty only as to the quality of its products in
conforming to standards and specifications published in the Yaskawa manual. NO OTHER WARRANTY, EXPRESSED
OR IMPLIED, IS OFFERED. Yaskawa assumes no liability for any personal injury, property damage, losses, or claims
arising from misapplication of its products.
This manual is designed to ensure correct and suitable application of Variable A1000-Series Drives. Read this manual
before attempting to install, operate, maintain, or inspect a drive and keep it in a safe, convenient location for future
reference. Be sure you understand all precautions and safety information before attempting application.
Applicable Documentation
The following manuals are available for A1000 series drives:
Symbols
Note: Indicates a supplement or precaution that does not cause drive damage.
Terms and Abbreviations
A1000 Series AC Drive Quick Start Guide
This guide is packaged together with the product. It contains basic information required to install and wire the drive, in addition to
an overview of fault diagnostics, maintenance, and parameter settings. It is meant to get the drive ready for a trial run with the
application and for basic operation.
A1000 Series AC Drive Technical Manual (this book)
This manual is included on the CD-ROM packaged with the product (Yaskawa AC Drive Manuals, TOBCC71061621), and is
also available for download on our documentation website, e-mechatronics.com. This manual provides detailed information on
parameter settings, drive functions, and MEMOBUS/Modbus specifications. Use this manual to expand drive functionality and to
take advantage of higher performance features.
TERMS TERMS
Indicates a term or definition used in this manual.
TERMS TERMS
Drive: Yaskawa A1000 Series Drive
V/f: V/f Control
V/f w/PG: V/f Control with PG
OLV: Open Loop Vector Control
CLV: Closed Loop Vector Control
OLV/PM: Open Loop Vector Control for PM
AOLV/PM: Advanced Open Loop Vector Control for PM
CLV/PM: Closed Loop Vector Control for PM
PM motor: Permanent Magnet Synchronous motor (an abbreviation for IPM motor or SPM motor)
IPM motor: Interior Permanent Magnet Motor (such as Yaskawas SSR1 Series and SST4 Series motors)
SPM motor: Surface mounted Permanent Magnet Motor (such as Yaskawas SMRA Series motors)
LO
RE ESC
RUN STOP
ENTER RESET
ALM DIGITAL OPERATOR JVOP-182
CIMR-AA2A0021FAA 200V 3Phase 5.5kW/3.7kW
REV DRV FOUT
S/N:
[Q
jI.|9IIqT@]j@jT,, d@Q]@5|[IL.17! L, 400V.!^9(I.]9j!@j 1L(,qj(,,( [) {\J.g](I.g] @5#|]L,
I!.9dj1!TO,
[Q .!^_@.[I[IO, |L]L,
AVERTISSMENT NPJT31470-1
Lire le manuel avant l'installation. Attendre 5 minutes aprs la coupure de l'alimentation, pour permettre la dcharge des condensateurs. Pour rpondre aux exigences , s assurer que le neutre soit reli la terre, pour la srie 400V. Aprs avoir dconncte la protection entre le driver et le moteur, veuillez patienter 5 minutes avain deffectuer une opration de montage ou de cblage du variateur.
Risque de dcharge lectrique.
Surfaces Chaudes Dessus et cots du boitier Peuvent devenir chaud. Ne Pas toucher.
WARNING
Read manual before installing. Wait 5 minutes for capacitor discharge after disconnecting power supply. To conform to requirements, make sure to ground the supply neutral for 400V class. After opening the manual switch between the drive and motor, please wait 5 minutes before inspecting, performing maintenance or wiring the drive.
Risk of electric shock.
Hot surfaces Top and Side surfaces may become hot. Do not touch.
YEC_com
mon
i.2 General Safety
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 17
i.2 General Safety
Supplemental Safety Information
WARNING! will also be indicated by a bold key word embedded in the text followed by an italicized safety message.
CAUTION! will also be indicated by a bold key word embedded in the text followed by an italicized safety message.
NOTICE: will also be indicated by a bold key word embedded in the text followed by an italicized safety message.
General Precautions
The diagrams in this manual may be indicated without covers or safety shields to show details. Restore covers or
shields before operating the drive and run the drive according to the instructions described in this manual.
Any illustrations, photographs, or examples used in this manual are provided as examples only and may not apply to
all products to which this manual is applicable.
The products and specifications described in this manual or the content and presentation of the manual may be
changed without notice to improve the product and/or the manual.
When ordering a new copy of the manual due to damage or loss, contact your Yaskawa representative or the nearest
Yaskawa sales office and provide the manual number shown on the front cover.
If nameplate becomes worn or damaged, order a replacement from your Yaskawa representative or the nearest
Yaskawa sales office.
W ARNING
Read and understand this manual before installing, operating or servicing this drive. The drive must be installed
according to this manual and local codes.
The following conventions are used to indicate safety messages in this manual. Failure to heed these messages could
result in serious or possibly even fatal injury or damage to the products or to related equipment and systems.
DANGER
Indicates a hazardous situation, which, if not avoided, will result in death or serious injury.
W ARNING
Indicates a hazardous situation, which, if not avoided, could result in death or serious injury.
CAUTION
Indicates a hazardous situation, which, if not avoided, could result in minor or moderate injury.
NOTICE
Indicates a property damage message.
i.2 General Safety
18 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Safety Messages
DANGER
Heed the safety messages in this manual.
Failure to comply will result in death or serious injury.
The operating company is responsible for any injuries or equipment damage resulting from failure to heed the warnings
in this manual.
Electrical Shock Hazard
Do not connect or disconnect wiring while the power is on.
Failure to comply will result in death or serious injury.
Before servicing, disconnect all power to the equipment. The internal capacitor remains charged even after the power
supply is turned off. After shutting off the power, wait for at least the amount of time specified on the drive before
touching any components.
W ARNING
Sudden Movement Hazard
System may start unexpectedly upon application of power, resulting in death or serious injury.
Clear all personnel from the drive, motor and machine area before applying power. Secure covers, couplings, shaft
keys and machine loads before applying power to the drive.
When using DriveWorksEZ to create custom programming, the drive I/O terminal functions change from
factory settings and the drive will not perform as outlined in this manual.
Unpredictable equipment operation may result in death or serious injury.
Take special note of custom I/O programming in the drive before attempting to operate equipment.
Electrical Shock Hazard
Do not attempt to modify or alter the drive in any way not explained in this manual.
Failure to comply could result in death or serious injury.
Yaskawa is not responsible for any modification of the product made by the user. This product must not be modified.
Do not allow unqualified personnel to use equipment.
Failure to comply could result in death or serious injury.
Maintenance, inspection, and replacement of parts must be performed only by authorized personnel familiar with
installation, adjustment and maintenance of AC drives.
Do not remove covers or touch circuit boards while the power is on.
Failure to comply could result in death or serious injury.
Fire Hazard
Do not use an improper voltage source.
Failure to comply could result in death or serious injury by fire.
Verify that the rated voltage of the drive matches the voltage of the incoming power supply before applying power.
Crush Hazard
Do not use this drive in lifting applications without installing external safety circuitry to prevent accidental
dropping of the load.
The drive does not possess built-in load drop protection for lifting applications.
Failure to comply could result in death or serious injury from falling loads.
Install electrical and/or mechanical safety circuit mechanisms independent of drive circuitry.
i.2 General Safety
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 19
Application Notes
Selection
Installing a Reactor
An AC or DC reactor can be used for the following:
to suppress harmonic current.
to smooth peak current that results from capacitor switching.
when the power supply is above 600 kVA.
when the drive is running from a power supply system with thyristor converters.
Note: A DC reactor is built in to the drive models 2A0110 to 2A0415 and 4A0058 to 4A0675.
Figure i.1
Figure i.1 Installing a Reactor
CAUTION
Crush Hazard
Do not carry the drive by the front cover.
Failure to comply may result in minor or moderate injury from the main body of the drive falling.
NOTICE
Observe proper electrostatic discharge procedures (ESD) when handling the drive and circuit boards.
Failure to comply may result in ESD damage to the drive circuitry.
Do not perform a withstand voltage test on any part of the drive.
Failure to comply could result in damage to the sensitive devices within the drive.
Do not operate damaged equipment.
Failure to comply could result in further damage to the equipment.
Do not connect or operate any equipment with visible damage or missing parts.
Install adequate branch circuit short circuit protection per applicable codes.
Failure to comply could result in damage to the drive.
The drive is suitable for circuits capable of delivering not more than 100,000 RMS symmetrical Amperes, 240 Vac
maximum (200 V Class) and 480 Vac maximum (400 V Class).
Do not expose the drive to halogen group disinfectants.
Failure to comply may cause damage to the electrical components in the drive.
Do not pack the drive in wooden materials that have been fumigated or sterilized.
Do not sterilize the entire package after the product is packed.
4000
600
0
60 400
Drive Capacity (kVA)
Power Supply
Capacity (kVA)
Power supply harmonics
reactor required
Reactor
unnecessary
i.2 General Safety
20 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Drive Capacity
For specialized motors, make sure that the motor rated current is less than rated output current for the drive. When
running more than one motor in parallel from a single drive, the capacity of the drive should be larger than 1.1 times of
the total motor rated current.
Starting Torque
The overload rating for the drive determines the starting and accelerating characteristics of the motor. Expect lower
torque than when running from line power. To get more starting torque, use a larger drive or increase both the motor and
drive capacity.
Emergency Stop
When the drive faults out, the output is shut off. This, however, does not stop the motor immediately. Some type of
mechanical brake may be needed if it is necessary to halt the motor faster than the Fast Stop function is able to.
Options
The B1, B2, +1, +2, and +3 terminals are used to connect optional devices. Connect only A1000-compatible devices.
Repetitive Starting/Stopping
Cranes (hoists), elevators, punching presses, and other such applications with frequent starts and stops often exceed
150% of their rated current values. Heat stress generated from repetitive high current can shorten the life span of the
IGBTs. The expected lifesaving for the IGBTs is about 8 million start and stop cycles with a 4 kHz carrier frequency and
a 150% peak current.
Yaskawa recommends lowering the carrier frequency, particularly when audible noise is not a concern. The user can also
choose to reduce the load, increase the acceleration and deceleration times, or switch to a larger drive. This will help keep
peak current levels under 150%. Be sure to check the peak current levels when starting and stopping repeatedly during
the initial test run, and make adjustments accordingly.
For crane-type applications using an inching function in which the motor is quickly started and stopped, Yaskawa
recommends the following to ensure motor torque levels:
Select a large enough drive so that peak current levels remain below 150% of the drive rated current.
The drive should be one frame size larger than the motor.
Installation
Enclosure Panels
Keep the drive in a clean environment by either selecting an area free of airborne dust, lint, and oil mist, or install the
drive in an enclosure panel. Be sure to leave the required space between drives to provide for cooling, and that proper
measures are taken so that the ambient temperature remains within allowable limits. Keep flammable materials away
from the drive. If the drive must be used in an area where it is subjected to oil mist and excessive vibration, protective
designs are available. Contact Yaskawa or your Yaskawa agent for details.
Installation Direction
The drive should be installed upright as specified in the manual. For more information on installation, Refer to
Mechanical Installation on page 42.
Settings
Motor Code
If using OLV/PM designed for permanent magnet motors, make sure that the proper motor code has been set to
parameter E5-01 before performing a trial run.
Upper Limits
The drive is capable of running the motor up to 400 Hz. Due to the danger of accidentally of operating at high speed, be
sure to set the upper limit for the frequency. The default setting for the maximum output frequency is 60 Hz.
DC Injection Braking
Motor overheat can result if there is too much current used during DC Injection Braking, or if the time for DC Injection
Braking is too long.
i.2 General Safety
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 21
Acceleration/Deceleration Times
Acceleration and deceleration times are affected by how much torque the motor generates, the load torque, and the inertia
moment. Set a longer accel/decel time when Stall Prevention is enabled. The accel/decel times are lengthened for as long
as the Stall Prevention function is operating. For faster acceleration and deceleration, install one of the braking options
available or increase the capacity of the drive.
Compliance with Harmonic Suppression Guidelines
A1000 conforms to strict guidelines in Japan covering harmonic suppression for power conversion devices. Defined in
JEM-TR201 and JEM-TR226 and published by the Japan Electrical Manufacturers Association, these guidelines define
the amount of harmonic current output acceptable for new installation. Instructions on calculation harmonic output are
available at www.e-mechatronics.com.
General Handling
Wiring Check
Never connect the power supply lines to output terminals U/T1, V/T2, or W/T3. Doing so will destroy the drive. Be sure
to perform a final check of all sequence wiring and other connections before turning the power on. Make sure there are
no short circuits on the control terminals (+V, AC, etc.), as this could damage the drive.
Selecting a Circuit Breaker or Leakage Circuit Breaker
Yaskawa recommends installing Earth Leakage Circuit Breaker (ELCB) to the power supply side. The ELCB should be
designed for use with an AC drive (e.g. Type B according to IEC 60755).
Select a MCCB (Molded Case Circuit Breaker) or ELCB with a rated current that is 1.5 to 2 times higher than the rated
current of the drive in order to avoid nuisance trips caused by harmonics in the drive input current. Also refer to
Installing a Molded Case Circuit Breaker (MCCB) and Earth Leakage Circuit Breaker (ELCB) on page 387.
Magnetic Contactor Installation
Use a magnetic contactor (MC) to ensure that power to the drive can be completely shut off when necessary. The MC
should be wired so that it opens when a fault output terminal is triggered.
Avoid switching a magnetic contactor on the power supply side more frequently than once every 30 minutes. Frequent
switching can cause damage to the drive.
Inspection and Maintenance
Capacitors in the drive take time to discharge even after the power has been shut off. After shutting off the power, wait
for at least the amount of time specified on the drive before touching any components.
The heatsink can become quite hot during operation, and proper precautions should be taken to prevent burns. When
replacing the cooling fan, shut off the power and wait at least 15 minutes to be sure that the heatsink has cooled down.
Even when the power has been shut off for a drive running a PM motor, voltage continues to be generated at the motor
terminals while the motor coasts to stop. Take the precautions described below to prevent shock and injury:
Applications where the machine can still rotate even though the drive has fully stopped should have a load switch
installed to the output side of the drive. Yaskawa recommends manual load switches from the AICUT LB Series by
AICHI Electric Works Co., Ltd.
Do not allow an external force to rotate the motor beyond the maximum allowable speed, also when the drive has been
shut off.
Wait for at least the time specified on the warning label after opening the load switch on the output side before
inspecting the drive or performing any maintenance.
Do not open and close the load switch while the motor is running, as this can damage the drive.
If the motor is coasting, make sure the power to the drive is turned on and the drive output has completely stopped
before closing the load switch.
Wiring
All wire ends should use ring terminals for UL/cUL compliance. Use only the tools recommended by the terminal
manufacturer for crimping.
Transporting the Drive
Never steam clean the drive.
i.2 General Safety
22 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
During transport, keep the drive from coming into contact with salts, fluorine, bromine, phthalate ester, and other such
harmful chemicals.
Notes on Motor Operation
Using a Standard Motor
Low Speed Range
The cooling fan of a standard motor is usually designed to sufficiently cool the motor at the rated speed. As the self-
cooling capability of such a motor reduces with the speed, applying full torque at low speed will possibly damage the
motor. To prevent motor damage from overheat, reduce the load torque as the motor slows.
Figure i.2 shows the allowable load characteristics for a Yaskawa standard motor. A motor designed specifically for
operation with a drive should be used when 100% continuous torque is needed at low speeds.
Figure i.2
Figure i.2 Allowable Load Characteristics for a Yaskawa Motor
Insulation Tolerance
Consider voltage tolerance levels and insulation in applications with an input voltage of over 440 V or particularly long
wiring distances. Contact Yaskawa or your Yaskawa agent for consultation.
High Speed Operation
Problems may occur with the motor bearings and dynamic balance of the machine when operating a motor beyond its
rated speed. Contact the motor or machine manufacturer.
Torque Characteristics
Torque characteristics differ compared to operating the motor directly from line power. The user should have a full
understanding of the load torque characteristics for the application.
Vibration and Shock
A1000 lets the user choose between high carrier PWM control and low carrier PWM. Selecting high carrier PWM can
help reduce motor oscillation.
Take particular caution when using a variable speed drive for an application that is conventionally run from line power at
a constant speed. If resonance occurs shock-absorbing rubber should be installed around the base of the motor and the
Jump frequency selection should be enabled to prevent continuous operation in the resonant frequency range.
Audible Noise
Noise created during run varies by the carrier frequency setting. When using a high carrier frequency, audible noise from
the motor is comparable to the motor noise generated when running from line power. Operating above the rated r/min,
however, can create unpleasant motor noise.
Using a Synchronous Motor
Contact Yaskawa or your Yaskawa agent if you plan to use any other synchronous motor not endorsed by Yaskawa.
A single drive is not capable of running multiple synchronous motors at the same time. Use a standard induction motor
for such setups.
50
3 6 60
60
70
80
90
100
25% ED (or 15 min)
40% ED (or 20 min)
60% ED (or 40 min)
Frequency (Hz)
Continuous operation
Torque
(%)
20 YEC_common
i.2 General Safety
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 23
At start, a synchronous motor may rotate slightly in the opposite direction of the Run command depending on
parameter settings and rotor position.
The amount of starting torque that can be generated differs by each control mode and by the type of motor being used.
Set up the motor with the drive after verifying the starting torque, allowable load characteristics, impact load tolerance,
and speed control range.
Contact Yaskawa or your Yaskawa agent if you plan to use a motor that does not fall within these specifications.
In Open Loop Vector Control for PM motors, braking torque is less than 125% when running between 20% to 100%
speed, even with a braking resistor. Braking torque drops to less than half when running at less than 20% speed.
In Open Loop Vector Control for PM motors, the allowable load inertia moment is approximately 50 times higher than
the motor inertia moment or less. Contact Yaskawa or your Yaskawa agent concerning applications with a larger inertia
moment.
When using a holding brake in Open Loop Vector Control for PM motors, release the brake prior to starting the motor.
Failure to set the proper timing can result in speed loss. Not for use with conveyor, transport, or hoist type applications.
To restart a coasting motor rotating at over 200 Hz while in the V/f control mode, use the Short Circuit Braking
function to first bring the motor to a stop. Short Circuit Braking requires a special braking resistor. Contact Yaskawa or
your Yaskawa agent for details.
Speed Search can be used to restart a coasting motor rotating slower than 200 Hz. If the motor cable is relatively long,
however, the motor should instead be stopped using Short Circuit Braking, which forces the motor to stop by creating a
short-circuit in the motor windings.
Applications with Specialized Motors
Applications with Specialized Motors
Multi-Pole Motor
Because the rated current will differ from a standard motor, be sure to check the maximum current when selecting a
drive. Always stop the motor before switching between the number of motor poles. If a regen overvoltage fault occurs or
if overcurrent protection is triggered, the motor will coast to stop.
Submersible Motor
Because motor rated current is greater than a standard motor, select the drive capacity accordingly. Be sure to use a large
enough motor cable to avoid decreasing the maximum torque level on account of voltage drop caused by a long motor
cable.
Explosion-Proof Motor
Both the motor and drive need to be tested together to be certified as explosion-proof. The drive is not designed for
explosion proof areas.
Furthermore, if an encoder is attached to an explosion-proof motor make sure the encoder is explosion-proof too. Use an
insulating signal converter for connecting the encoder signal lines to the drives speed feedback option card.
Geared Motor
To avoid gear damage when operating at low speeds or very high speeds, make sure that both the gear and lubricant are
rated for the desired speed range. Consult with the manufacturer for applications that require operation outside the rated
speed range of the motor or gear box.
Single-Phase Motor
Variable speed drives are not designed for operation with single phase motors. Using capacitors to start the motor causes
excessive current to flow and can damage drive components. A split-phase start or a repulsion start can end up burning
out the starter coils because the internal centrifugal switch is not activated. A1000 is for use with three-phase motors
only.
i.2 General Safety
24 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Uras Vibrator
Uras vibrator is a vibration motor that gets power from centrifugal force by rotating unbalanced weights on both ends of
the shaft. After considering the points below, consult with a your Yaskawa representative to determine the best solution
for the application.
Uras vibrator should be used within the drive rated frequency.
Use V/f Control.
Increase the acceleration time five to fifteen times longer than would normally be used due to the high amount of load
inertia of an Uras vibrator. Increase drive capacity for applications that require an acceleration time of less than 5 s.
Drive may have trouble starting due to undertorque that results from erratic torque (static friction torque at start).
Motor with Brake
Caution should be taken when using a drive to operate a motor with a built-in holding brake. If the brake is connected to
the output side of the drive, it may not release at start due to low voltage levels. A separate power supply should be
installed for the motor brake. Motors with a built-in brake tend to generate a fair amount of noise when running at low
speeds.
Notes on Power Transmission Parts (belts, chains, gear boxes, ...)
Installing a drive in a machine that was directly connected to the power supply allows to adjust the machine speed.
Continuous operation above or below the rated speed can wear on lubrication material in gear boxes and other power
transmission parts. In order to avoid machine damage make sure lubrication is sufficient within the whole speed range.
Note that operation above the rated speed can increase the noise generated by the machine.
Drive Label Warnings
Always heed the warning information listed in Figure i.3 in the position shown in Figure i.4.
Figure i.3
Figure i.3 Warning Information
Figure i.4
Figure i.4 Warning Information Position
WARNING
Read manual before installing.
Wait 5 minutes for capacitor
discharge after disconnecting
power supply.
To conform to requirements,
make sure to ground the supply
neutral for 400V class.
After opening the manual switch
between the drive and motor,
please wait 5 minutes before
inspecting, performing
maintenance or wiring the drive.
Risk of electric shock.
Hot surfaces
Top and Side surfaces may
become hot. Do not touch.
YEC_com
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LO
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RUN STOP
ENTER RESET
ALM DIGITAL OPERATOR JVOP-182
CIMR-AA2A0021FAA
200V 3Phase 5.5kW/3.7kW
REV DRV FOUT
S/N:
[Q
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AVERTISSMENT NPJT31470-1
Lire le manuel avant l'installation.
Attendre 5 minutes aprs la coupure
de l'alimentation, pour permettre
la dcharge des condensateurs.
Pour rpondre aux exigences , s
assurer que le neutre soit reli
la terre, pour la srie 400V.
Aprs avoir dconncte la protection
entre le driver et le moteur, veuillez
patienter 5 minutes avain deffectuer
une opration de montage ou de
cblage du variateur.
Risque de dcharge lectrique.
Surfaces Chaudes
Dessus et cots du boitier Peuvent
devenir chaud. Ne Pas toucher.
WARNING
Read manual before installing.
Wait 5 minutes for capacitor
discharge after disconnecting
power supply.
To conform to requirements,
make sure to ground the supply
neutral for 400V class.
After opening the manual switch
between the drive and motor,
please wait 5 minutes before
inspecting, performing
maintenance or wiring the drive.
Risk of electric shock.
Hot surfaces
Top and Side surfaces may
become hot. Do not touch.
Warning Label
YEC_common
i.2 General Safety
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 25
Warranty Information
Warranty Period
This drive is warranted for 12 months from the date of delivery to the customer or 18 months from the date of shipment
from the Yaskawa factory, whichever comes first.
Scope of Warranty
Inspections
Customers are responsible for periodic inspections of the drive. Upon request, a Yaskawa representative will inspect the
drive for a fee. If the Yaskawa representative finds the drive to be defective due to Yaskawa workmanship or materials
and the defect occurs during the warranty period, this inspection fee will be waived and the problem remedied free of
charge.
Repairs
If a Yaskawa product is found to be defective due to Yaskawa workmanship or materials and the defect occurs during the
warranty period, Yaskawa will provide a replacement, repair the defective product, and provide shipping to and from the
site free of charge.
However, if the Yaskawa Authorized Service Center determines that the problem with the drive is not due to defective
workmanship or materials, the customer will be responsible for the cost of any necessary repairs. Some problems that are
outside the scope of this warranty are:
Problems due to improper maintenance or handling, carelessness, or other reasons where the customer is determined to
be responsible.
Problems due to additions or modifications made to a Yaskawa product without Yaskawas understanding.
Problems due to the use of a Yaskawa product under conditions that do not meet the recommended specifications.
Problems caused by natural disaster or fire.
After the free warranty period elapses.
Replenishment or replacement of consumables or expendables.
Defective products due to packaging or fumigation.
Malfunction or problems caused by program that has been made by customers using DriveWorksEZ.
Other problems not due to defects in Yaskawa workmanship or materials.
Warranty service is only applicable within Japan. However, after-sales service is available for customers outside of Japan
for a reasonable fee.
Contact your local Yaskawa representative for more information.
Exceptions
Any inconvenience to the customer or damage to non-Yaskawa products due to Yaskawas defective products whether
within or outside of the warranty period are NOT covered by warranty.
Restrictions
A1000 was not designed or manufactured for use in devices or systems that may directly affect or threaten human lives
or health.
Customers who intend to use the product described in this manual for devices or systems relating to transportation, health
care, space aviation, atomic power, electric power, or in underwater applications must first contact their Yaskawa
representatives or the nearest Yaskawa sales office.
This product has been manufactured under strict quality-control guidelines. However, if this product is to be installed in
any location where failure of this product could involve or result in a life-and-death situation or loss of human life or in a
facility where failure may cause a serious accident or physical injury, safety devices must be installed to minimize the
likelihood of any accident.
i.2 General Safety
26 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
1
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 27
Receiving
This chapter explains how to inspect the drive upon receipt, and gives and overview of the
different enclosure types and components.
1.1 SECTION SAFETY. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
1.2 GENERAL DESCRIPTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
1.3 MODEL NUMBER AND NAMEPLATE CHECK . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
1.4 DRIVE MODELS AND ENCLOSURE TYPES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
1.5 COMPONENT NAMES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
28 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
1.1 Section Safety
1.1 Section Safety
CAUTION
Do not carry the drive by the front cover or the terminal cover.
Failure to comply may cause the main body of the drive to fall, resulting in minor or moderate injury.
NOTICE
Observe proper electrostatic discharge procedures (ESD) when handling the drive and circuit boards.
Failure to comply may result in ESD damage to the drive circuitry.
A motor connected to a PWM drive may operate at a higher temperature than a utility-fed motor and the
operating speed range may reduce motor cooling capacity.
Ensure that the motor is suitable for drive duty and/or the motor service factor is adequate to accommodate the
additional heating with the intended operating conditions.
1.2 General Description
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 29
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1.2 General Description
A1000 Model Selection
Table 1.1 gives a reference for drive selection depending on the motor power and Normal or Heavy Duty rating.
Note: The models and capacities in shown here are based on standard settings and operation conditions. Derating is required for higher
carrier frequencies and higher ambient temperatures.
Table 1.1 A1000 Models
Note: Current derating is required when setting the carrier frequency higher. Refer to Carrier Frequency Derating on page 402 for
details.
Motor Power
(kW)
<1> These values assume the carrier frequency is not set higher than 8 kHz.
<2> These values assume the carrier frequency is not set higher than 5 kHz.
<3> These values assume the carrier frequency is set to 2 kHz.
3-Phase 200 V Class 3-Phase 400 V Class
Heavy Duty Rating Normal Duty Rating Heavy Duty Rating Normal Duty Rating
Model CIMR-A
Rated Output
Current (A)
Model CIMR-A
Rated Output
Current (A) <3>
Model CIMR-A
Rated Output
Current (A)
Model CIMR-A
Rated Output
Current (A) <3>
0.4 2A0004 3.2 <1> 4A0002 1.8
0.75 2A0006 5 <1> 2A0004 3.5 4A0004 3.4 4A0002 2.1
1.1 2A0008 6.9 <1> 2A0006 6
1.5 2A0010 8 <1> 2A0008 8 4A0005 4.8 4A0004 4.1
2.2 2A0012 11 <1> 2A0010 9.6 4A0007 5.5 4A0005 5.4
3.0 2A0018 14 <1> 2A0012 12 4A0009 7.2 4A0007 6.9
3.7 2A0021 17.5 <1> 2A0018 17.5 4A0011 9.2 4A0009 8.8
5.5 2A0030 25 <1> 2A0021 21 4A0018 14.8 4A0011 11.1
7.5 2A0040 33 <1> 2A0030 30 4A0023 18 4A0018 17.5
11 2A0056 47 <1> 2A0040 40 4A0031 24 <1> 4A0023 23
15 2A0069 60 <1> 2A0056 56 4A0038 31 <1> 4A0031 31
18.5 2A0081 75 <1> 2A0069 69 4A0044 39 <1> 4A0038 38
22 2A0110 85 <1> 2A0081 81 4A0058 45 <1> 4A0044 44
30 2A0138 115 <1> 2A0110 110 4A0072 60 <1> 4A0058 58
37 2A0169 145 <2> 2A0138 138 4A0088 75 <1> 4A0072 72
45 2A0211 180 <2> 2A0169 169 4A0103 91 <1> 4A0088 88
55 2A0250 215 <2> 2A0211 211 4A0139 112 <2> 4A0103 103
75 2A0312 283 <2> 2A0250 250 4A0165 150 <2> 4A0139 139
90 2A0360 346 <2> 2A0312 312 4A0208 180 <2> 4A0165 165
110
2A0415 415 <2> 2A0360 360 4A0250 216 <2> 4A0208 208
2A0415 415
132 4A0296 260 <2> 4A0250 250
160 4A0362 304 <2> 4A0296 296
185 4A0414 370 <2> 4A0362 362
220 4A0515 450 <3> 4A0414 414
250 4A0515 515
315 4A0675 605 <3>
355 4A0675 675
1.2 General Description
30 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Control Mode Selection
Table 1.2 gives an overview of the A1000 control modes and their various features.
Table 1.2 Control Modes and their Features
Motor Type Induction Motors Permanent Magnet Motors Comments
Control Mode V/f V/f w/PG OLV CLV OLV/PM AOLV/PM CLV/PM
Parameter Setting A1-02 = 0 A1-02 = 1 A1-02 = 2 A1-02 = 3 A1-02 = 5 A1-02 = 6 A1-02 = 7
Default Setting is Open Loop Vector
Control.
Basic Description V/f control
V/f control
using motor
speed
feedback
Open Loop
Vector control
Closed Loop
Vector control
Open Loop
Vector control
for PM motors
Open Loop
Vector control
for IPM
motors
Closed Loop
Vector control
for PM motors
Type of
Applications
Motor Type IM IM IM IM PM IPM PM
Multi Motor YES N/A N/A N/A N/A N/A N/A
Motor data
unknown
YES N/A N/A N/A N/A N/A N/A
High Speed
Accuracy
N/A YES YES YES YES YES YES
High Speed
Response
N/A N/A YES YES N/A YES YES
Zero Speed
Control
N/A N/A N/A YES N/A YES YES
Torque Control
Operation
N/A N/A N/A YES N/A YES YES
Torque Limit
Operation
N/A N/A YES YES N/A N/A YES
PG Option Card N/A
PG-B3 or
PG-X3
N/A
PG-B3 or
PG-X3
N/A N/A PG-X3
Control
Characteristics
Speed Control
Range
1:40 1:40 1:200 1:1500 1:20 1:100 1:1500
May fluctuate with characteristics and
motor temperature.
Speed Accuracy 2 to 3% 0.03% 0.2% 0.02% 0.2% 0.2% 0.02%
Speed deviation when operating at
constant speed. May fluctuate with
characteristics and motor temperature.
Speed Response
3 Hz
(approx.)
3 Hz
(approx.)
10 Hz 50 Hz 10 Hz 10 Hz 50 Hz
Max. frequency of a speed reference signal
that the drive can follow. May fluctuate
with characteristics and motor temperature.
Starting Torque 150% at 3 Hz 150% at 3 Hz
200% at 0.3
Hz
200% at 0
r/min
100% at 5%
speed
200% at
0 r/min
200% at
0 r/min
May fluctuate with characteristics and
motor temperature.
Performance may differ by capacity.
Application-
Specific
Auto-Tuning
Energy
Saving
Tuning
Line to
line
resistance
Energy
Saving
Tuning
Line to
line
resistance
Rotational
Stationary
Line to
line
resistance
Rotational
Stationary
Line to
line
resistance
ASR
Inertia
Stationary
Line to
line
resistance
Stationary
Line to
line
resistance
Stationary
Line to
line
resistance
ASR
Inertia
Encoder
Offset
Automatically adjusts parameter settings
that concern electrical characteristics of the
motor.
Torque Limit N/A N/A YES YES N/A YES YES
Sets the maximum torque for the motor to
protect the load and connected machinery.
Torque Control N/A N/A N/A YES N/A N/A YES
Allows direct control of motor torque for
tension control and other such applications.
Droop Function N/A N/A N/A YES N/A N/A YES
Zero Servo
Control
N/A N/A N/A YES N/A N/A YES Locks the rotor position.
Speed Search YES YES YES YES YES YES
Bi-directional speed detection of a coasting
motor to restart it without stopping.
Energy-Saving
Control
YES YES YES YES N/A
YES (IPM
motors only)
YES (IPM
motors only)
Saves energy by always operating the
motor at its maximum efficiency.
High Slip
Braking
YES YES N/A N/A N/A N/A N/A
Increases motor loss to allow for faster
deceleration than normal without the use of
a braking resistor. The effectiveness may
vary based on motor characteristics.
Feed Forward
Control
N/A N/A N/A YES N/A N/A YES
Improves speed accuracy when the load
changes by compensating effects of the
system inertia.
Kinetic Energy
Buffering
YES YES YES YES YES YES YES
Decelerates the drive to allow it to ride
through a momentary power loss and
continue operation.
Overexcitation
Deceleration
YES YES YES YES N/A N/A N/A
Provides fast deceleration without using a
braking resistor.
Inertia Tuning,
ASR Tuning
N/A N/A N/A YES N/A N/A YES
Provides automatic Speed Control and
Feed Forward function tuning.
Overvoltage
Suppression
YES YES YES YES YES YES YES
Prevents overvoltage by increasing speed
during regeneration. Never use this
function with hoist or crane applications.
High Frequency
Injection
N/A N/A N/A N/A N/A YES N/A
Greatly increases the speed control range
of an IPM motor.
1.3 Model Number and Nameplate Check
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 31
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1.3 Model Number and Nameplate Check
Please perform the following tasks after receiving the drive:
Inspect the drive for damage.
If the drive appears damaged upon receipt, contact the shipper immediately.
Verify receipt of the correct model by checking the information on the nameplate.
If you have received the wrong model or the drive does not function properly, contact your supplier.
Nameplate
Figure 1.1
Figure 1.1 Nameplate Information
PRG : 1010
IND.CONT.EQ.
7J48 B
CIMR-AA2A0021FAA
YASKAWA ELECTRIC CORPORATION MADE IN JAPAN
:
: AC3PH 200-240V 50/60Hz 24A/18.9A
: AC3PH 0-240V 0-400Hz 21A/17.5A
: 3.5 kg
:
:
: E131457 IP20
PASS
MODEL
MAX APPLI. MOTOR : 5.5kW / 3.7kW REV : A
INPUT
OUTPUT
MASS
O / N
S / N
FILE NO
TYPE 1 ENCLOSURE
AC drive model
Input specifications
Output specifications
Lot number
Serial number
Software version
Enclosure type
Normal Duty Amps / Heavy Duty Amps
YEC_common
CIMR - A A 2 A 0004 F A A
Drive A1000
Series
No.
Enclosure
Type
Design
Revision
Order
No.
Customized
Specifications
A Standard model
No.
Region
Code
U USA
IP00
F
NEMA
Type 1
A
A Japan
T Asia
C Europe
B China
No. Voltage Class
No.
Environmental
Refer to the following page.
Specification
K Gas-resistant
A
M
N
S
Standard
Humidity- and
dust-resistant
Oil-resistant
Vibration-resistant
3-phase, 380-480 Vac
3-phase, 200-240 Vac 2
4
<1>
YEC_common
1.3 Model Number and Nameplate Check
32 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Three-Phase 200 V
Three-Phase 400 V
Note: Refer to Drive Models and Enclosure Types on page 33 for differences regarding enclosure protection types and component
descriptions.
Normal Duty Heavy Duty
No.
Max. Motor Capacity
kW
Rated Output
Current A
No.
Max. Motor Capacity
kW
Rated Output
Current A
0004 0.75 3.5 0004 0.4 3.2
0006 1.1 6.0 0006 0.75 5
0008 1.5 8.0 0008 1.1 6.9
0010 2.2 9.6 0010 1.5 8
0012 3.0 12 0012 2.2 11
0018 3.7 17.5 0018 3.0 14.0
0021 5.5 21 0021 3.7 17.5
0030 7.5 30 0030 5.5 25
0040 11 40 0040 7.5 33
0056 15 56 0056 11 47
0069 18.5 69 0069 15 60
0081 22 81 0081 18.5 75
0110 30 110 0110 22 85
0138 37 138 0138 30 115
0169 45 169 0169 37 145
0211 55 211 0211 45 180
0250 75 250 0250 55 215
0312 90 312 0312 75 283
0360 110 360 0360 90 346
0415 110 415 0415 110 415
Normal Duty Heavy Duty
No.
Max. Motor Capacity
kW
Rated Output
Current A
No.
Max. Motor Capacity
kW
Rated Output
Current A
0002
<1> Drives with these specifications do not guarantee complete protection for the environmental conditions indicated.
0.75 2.1 0002 0.4 1.8
0004 1.5 4.1 0004 0.75 3.4
0005 2.2 5.4 0005 1.5 4.8
0007 3.0 6.9 0007 2.2 5.5
0009 3.7 8.8 0009 3.0 7.2
0011 5.5 11.1 0011 3.7 9.2
0018 7.5 17.5 0018 5.5 14.8
0023 11 23 0023 7.5 18
0031 15 31 0031 11 24
0038 18.5 38 0038 15 31
0044 22 44 0044 18.5 39
0058 30 58 0058 22 45
0072 37 72 0072 30 60
0088 45 88 0088 37 75
0103 55 103 0103 45 91
0139 75 139 0139 55 112
0165 90 165 0165 75 150
0208 110 208 0208 90 180
0250 132 250 0250 110 216
0296 160 296 0296 132 260
0362 185 362 0362 160 304
0414 220 414 0414 185 370
0515 250 515 0515 220 450
0675 355 675 0675 315 605
1.4 Drive Models and Enclosure Types
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 33
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1.4 Drive Models and Enclosure Types
Two types of enclosures are offered for A1000 drives.
IP00 enclosure models are designed for installation in an enclosure panel that serves to protect personnel from injury
caused by accidentally touching live parts.
IP20/NEMA Type 1 enclosure models mount to an indoor wall or in an enclosure panel.
Table 1.3 describes drive enclosures and models.
Table 1.3 Drive Models and Enclosure Types
Voltage Class
<1> Removing the top protective cover from a IP20/NEMA Type 1 enclosure drive voids NEMA Type 1 protection but still keeps IP20 conformity.
<2> Special order required. Contact your Yaskawa sales representative.
Enclosure Type
IP20/NEMA Type 1 Enclosure
CIMR-A
IP00 Enclosure
CIMR-A
Three-Phase
200 V Class
2A0004F <1>
2A0006F <1>
2A0008F <1>
2A0010F <1>
2A0012F <1>
2A0018F <1>
2A0021F <1>
2A0030F <1>
2A0040F <1>
2A0056F <1>
2A0069F <1>
2A0081F <1>
2A0110F <2> 2A0110A
2A0138F <2> 2A0138A
2A0169F <2> 2A0169A
2A0211F <2> 2A0211A
2A0250F <2> 2A0250A
2A0312F <2> 2A0312A
2A0360F <2> 2A0360A
2A0415A
Three-Phase
400 V Class
4A0002F <1>
4A0004F <1>
4A0005F <1>
4A0007F <1>
4A0009F <1>
4A0011F <1>
4A0018F <1>
4A0023F <1>
4A0031F <1>
4A0038F <1>
4A0044F <1>
4A0058F <2> 4A0058A
4A0072F <2> 4A0072A
4A0088F <2> 4A0088A
4A0103F <2> 4A0103A
4A0139F <2> 4A0139A
4A0165F <2> 4A0165A
4A0208F <2> 4A0208A
4A0250F <2> 4A0250A
4A0296F <2> 4A0296A
4A0362F <2> 4A0362A
4A0414A
4A0515A
4A0675A
34 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
1.5 Component Names
1.5 Component Names
This section gives and overview of the drive components described in this manual.
Note: 1. See Using the Digital Operator on page 93 for a description of the operator keypad.
2. The drive may have no cooling fans or only one cooling fan depending on the model.
IP20/NEMA Type 1 Enclosure
Three-Phase AC200 V CIMR-A2A0004F to 0081F
Three-Phase AC400 V CIMR-A4A0002F to 0044F
Table 1.4 Exploded View of IP20/NEMA Type 1 Enclosure Components (CIMR-A2A0030F)
IP00 Enclosure
Three-Phase AC200 V CIMR-A2A0110A, 0138A
Three-Phase AC400 V CIMR-A4A0058A to 0103A
Table 1.5 Exploded View of IP00 Enclosure Components (CIMR-A2A0110A)
<1> The following drive models have a single cooling fan: CIMR-A2A0018F and 0021F, CIMR-A4A0007F through 0011F.
Drives CIMR-A2A0004F through 0012F and CIMR-A4A0002F through 0005F do not have a cooling fan or a cooling fan cover.
A - Fan cover <1>
B - Cooling fan <1>
C - Mounting hole
D - Heatsink
E - Optional 24 V DC power supply connector cover
F - Terminal board
G - Bottom cover
H -Rubber bushing
I - Top protective cover
J - Front cover
K - USB port (type-B)
L - Digital Operator
M - Terminal cover
N - Terminal cover screw
A - Fan cover
B - Cooling fan
C - Mounting hole
D - Heatsink
E - Optional 24 V DC power supply connector cover
F - Terminal board
G - Front cover
H - USB port (type-B)
I - Front cover screw
J - Digital operator
K - Drive Cover
L - Terminal cover
N
A
B
C
I
D
E
F
J
L
M
K
G
H
A
B
C
D
E
F
G
H
I
J
K
L
1.5 Component Names
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 35
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Three-Phase AC200 V CIMR-A2A0169A to 0312A
Three-Phase AC400 V CIMR-A4A0139A to 0208A
Table 1.6 Exploded view of IP00 Enclosure Type Components (CIMR-A4A0165A)
Three-Phase AC200 V CIMR-A2A0360A, 0415A
Three-Phase AC400 V CIMR-A4A0250A to 0362A
Table 1.7 Exploded view of IP00 Enclosure Type Components (CIMR-A4A0362A)
A - Mounting hole
B - Heatsink
C - Optional 24 V DC power supply connector cover
D - Terminal board
E - Fan guard
F - Cooling fan
G - Fan unit
H - Front cover
I - USB port (type-B)
J - Digital operator
K - Front cover screw
L - Drive cover
M - Terminal cover
A - Mounting hole
B - Heatsink
C - Optional 24 V DC power supply connector cover
D - Terminal board
E - Fan guard
F - Cooling fan
G - Fan unit
H - Circulation fan <1>
<1> The following drive models come with a built-in circulation fan.
CIMR-A2A0360, 2A0415
CIMR-A4A0362
I - Front cover
J - USB port (type-B)
K - Digital operator
L - Front cover screw
M - Drive cover
N - Terminal cover
A
B
D
C
E
F
G
H
I
K
J
L
M
J K
B
C
E
F
G
H
I
L
M
N
D
A
1.5 Component Names
36 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Three-Phase AC400 V CIMR-A4A0414A
Table 1.8 Exploded view of IP00 Enclosure Type Components (CIMR-A4A0414A)
Three-Phase AC400 V CIMR-A4A0515A, 0675A
Table 1.9 Exploded view of IP00 Enclosure Type Components (CIMR-A4A0675A)
A - Mounting hole
B - Heatsink
C - Optional 24 V DC power supply connector cover
D - Terminal board
E - Fan guard
F - Cooling fan
G - Fan unit
H - Circulation fan
I - Front cover
J - USB port (type-B)
K - Digital operator
L - Front cover screw
M - Drive cover 1
N - Drive cover 2
O - Terminal cover
A - Mounting hole
B - Heatsink
C - Terminal board
D - Fan guard
E - Cooling fan
F - Fan unit
G - Circulation fan
H - Circuitboard cooling fan
I - Circuitboard cooling fan unit case
J - Front cover
K - USB port (type-B)
L - Digital operator
M - Front cover screw
N - Drive cover 1
O - Drive cover 2
P - Terminal cover
A
B
C
A
D
H
I
L
J
K
N
O
G
F
E
M
A
B
A C
I
H
F
E
D
G
L
J
M K
N
O
P
1.5 Component Names
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 37
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Front Views
Figure 1.2
Figure 1.2 Front View of Drives
A Terminal board connector G Main circuit terminal (Refer to Wiring
the Main Circuit Terminal on page 74)
B DIP switch S1 (Refer to Terminal A2
Input Signal Selection on page 85)
H Protecting cover to prevent miswiring
C DIP switch S2 (Refer to MEMOBUS/
Modbus Termination on page 87)
I Option card connector (CN5-C)
D Sink/source jumper S3 (Refer to
Power Supply Inputs Instead of the
Safe Disable Feature on page 82)
J Option card connector (CN5-B)
E Ground terminal K Option card connector (CN5-A)
F Terminal board (Refer to Control
Circuit Wiring on page 75)
A
I
K
J
H
G
F
E
B
CIMR-A2A0012F
C
D
A
G
F
E
B
C
D
K
J
I
CIMR-A2A0110A
YEC_TMonly
1.5 Component Names
38 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
2
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 39
Mechanical Installation
This chapter explains how to properly mount and install the drive.
2.1 SECTION SAFETY. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
2.2 MECHANICAL INSTALLATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
40 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
2.1 Section Safety
2.1 Section Safety
W ARNING
Fire Hazard
Provide sufficient cooling when installing the drive inside an enclosed panel or cabinet.
Failure to comply could result in overheating and fire.
When multiple drives are placed inside the same enclosure panel, install proper cooling to ensure air entering the
enclosure does not exceed 40C.
CAUTION
Crush Hazard
Do not carry the drive by the front cover or the terminal cover.
Failure to comply may result in minor or moderate injury from the main body of the drive falling.
NOTICE
Equipment Hazard
Prevent foreign matter such as metal shavings or wire clippings from falling into the drive during drive
installation and project construction.
Failure to comply could result in damage to the drive.
Place a temporary cover over the top during installation. Be sure to remove the temporary cover before start-up, as the
cover will reduce ventilation and cause the unit to overheat.
Observe proper electrostatic discharge (ESD) procedures when handling the drive.
Failure to comply could result in ESD damage to the drive circuitry.
Operating the motor in the low-speed range diminishes the cooling effects, increases motor temperature, and
may lead to motor damage by overheating.
Reduce the motor torque in the low-speed range whenever using a standard blower cooled motor. If 100% torque is
required continuously at low speed, consider using a special drive or vector-control motor. Select a motor that is
compatible with the required load torque and operating speed range.
The speed range for continuous operation differs according to the lubrication method and motor manufacturer.
If the motor is to be operated at a speed higher than the rated speed, consult with the manufacturer.
Continuously operating an oil-lubricated motor in the low-speed range may result in burning.
When the input voltage is 440 V or higher or the wiring distance is greater than 100 meters, pay special
attention to the motor insulation voltage or use a drive-rated motor with reinforced insulation.
Failure to comply could lead to motor winding failure.
Motor vibration may increase when operating a machine in variable-speed mode, if that machine previously
operated at a constant speed.
Install vibration-proof rubber on the motor base or use the frequency jump function to skip a frequency resonating the
machine.
The motor may require more acceleration torque with drive operation than with a commercial power supply.
Set a proper V/f pattern by checking the load torque characteristics of the machine to be used with the motor.
The rated input current of submersible motors is higher than the rated input current of standard motors.
Select an appropriate drive according to its rated output current. When the distance between the motor and drive is
long, use a cable thick enough to connect the motor to the drive to prevent motor torque reduction.
2.1 Section Safety
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 41
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NOTICE
The current rating differs for a motor with variable pole pitches differs from a standard motor.
Check the maximum current of the motor before selecting the drive capacity. Only switch motor poles when the motor
is stopped. Switching between motor during run will trigger overcurrent protection circuitry or result in overvoltage
from regeneration, and the motor will simply coast to stop.
When using an explosion-proof motor, it must be subject to an explosion-proof test in conjunction with the
drive.
This is also applicable when an existing explosion-proof motor is to be operated with the drive. Since the drive itself is
not explosion-proof, always install it in a safe place.
Never lift the drive up while the cover is removed.
This can damage the terminal board and other components.
42 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
2.2 Mechanical Installation
2.2 Mechanical Installation
This section outlines specifications, procedures, and the environment for proper mechanical installation of the drive.
Installation Environment
To help prolong the optimum performance life of the drive, install the drive in an environmental matching the
specifications below.
Table 2.1 Installation Environment
NOTICE: Avoid placing drive peripheral devices, transformers, or other electronics near the drive as the noise created can lead to
erroneous operation. If such devices must be used in close proximity to the drive, take proper steps to shield the drive from noise.
NOTICE: Prevent foreign matter such as metal shavings and wire clippings from falling into the drive during installation. Failure to
comply could result in damage to the drive. Place a temporary cover over the top of the drive during installation. Remove the
temporary cover before startup, as the cover will reduce ventilation and cause the drive to overheat.
Installation Orientation and Spacing
Install the drive upright as illustrated in Figure 2.1 to maintain proper cooling.
Figure 2.1
Figure 2.1 Correct Installation Orientation
Environment Conditions
Installation Area Indoors
Ambient Temperature
-10C to +40C (IP20/NEMA Type 1 enclosure)
-10C to +50C (IP00 enclosure)
Drive reliability improves in environments without wide temperature fluctuations.
When using the drive in an enclosure panel, install a cooling fan or air conditioner in the area to ensure that the air temperature inside the enclosure
does not exceed the specified levels.
Do not allow ice to develop on the drive.
Humidity 95% RH or less and free of condensation
Storage Temperature -20 to +60C
Surrounding Area
Install the drive in an area free from:
oil mist and dust
metal shavings, oil, water or other foreign materials
radioactive materials
combustible materials (e.g., wood)
harmful gases and liquids
excessive vibration
chlorides
direct sunlight
Altitude 1000 m, up to 3000 m with derating (for details, refer to Altitude Derating on page 404)
Vibration
10 to 20 Hz at 9.8 m/s
2
20 to 55 Hz at 5.9 m/s
2
(Models CIMR-A2A0004 to 2A0211 and 4A0002 to 4A0165) or,
2.0 m/s
2
(Models CIMR-A2A0250 to 2A0415 and 4A0208 to 4A0675)
Orientation Install the drive vertically to maintain maximum cooling effects.
OK Not Good Not Good
2.2 Mechanical Installation
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 43
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Single Drive Installation
Figure 2.2 shows the installation distance required to maintain sufficient space for airflow and wiring.
Figure 2.2
Figure 2.2 Correct Installation Spacing
Note: IP20/NEMA Type 1 enclosure and IP00 enclosure models require the same amount of space above and below the drive for
installation.
Multiple Drive Installation (Side-by-Side Installation)
Models CIMR-A2A0004 through 0081 and 4A0002 through 0044 can take advantage of Side-by-Side installation.
When installing multiple drives into the same enclosure panel, mount the drives according to Figure 2.2.
When mounting drives with the minimum clearance of 2 mm according to Figure 2.3, derating must be considered and
parameter L8-35 must be set to 1. Refer to Temperature Derating on page 403.
Figure 2.3
Figure 2.3 Space Between Drives (Side-by-Side Mounting)
Note: When installing drives of different heights in the same enclosure panel, the tops of the drives should line up. Leave space
between the top and bottom of stacked drives for easy cooling fan replacement if required.
A 50 mm minimum C 120 mm minimum
B 30 mm minimum D Airflow direction
A 50 mm minimum C 2 mm minimum
D 120 mm minimum B 30 mm minimum
A
A
B B
Side Clearance Top/Bottom Clearance
C
C
D
D
YEC_common
A A
A A
B
C
B
Side Clearance
Line up the tops of the drives.
D
D
Top/Bottom Clearance
YEC_common
2.2 Mechanical Installation
44 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
When drives with IP20/NEMA Type 1 enclosures are mounted side by side, the top protective covers of all drives must
be removed as shown in Figure 2.4. Refer to Top Protective Cover on page 66 to remove and reattach the top protective
cover.
Figure 2.4
Figure 2.4 IP20/NEMA Type 1 Side-by-Side Mounting in Enclosure
Digital Operator Remote Usage
Remote Operation
The digital operator mounted on the drive can be removed and connected to the drive using an extension cable up to 3 m
long. This makes it easier to operate the drive when it is installed in a location where it can not be accessed easily.
The digital operator can also be permanently mounted in a remote location like a panel door. An extension cable and an
installation support set (depending on the installation type) will be required.
Note: Refer to Drive Options and Peripheral Devices on page 379 for information on extension cables and installation support sets.
Figure 2.5
Figure 2.5 Communication Cable Connection
S/ N : J007XE273710001
Operator Drive
Communication Cable Connector
Comm Port
common_
TMonly
2.2 Mechanical Installation
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 45
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Digital Operator Remote Installation
Digital Operator Dimensions
Figure 2.6 Digital Operator Dimensions
Installation Types and Required Materials
There are two ways the digital operator can be mounted to an enclosure:
1. External/face-mount installs the operator outside the enclosure panel
2. Internal/flush-mount installs the operator inside the enclosure panel
Table 2.2 Digital Operator Installation Methods and Required Tools
Note: Prevent foreign matter such as metal shavings or wire clippings from falling into the drive during installation and project
construction. Failure to comply could result in damage to the drive. Place a temporary cover over the top of the drive during
installation. Remove the temporary cover before startup, as the cover will reduce ventilation and cause the drive to overheat.
External/Face-Mount
1. Cut an opening in the enclosure panel for the digital operator as shown in Figure 2.8.
2. Position the digital operator so the display faces outwards, and mount it to the enclosure panel as shown in
Figure 2.7.
Figure 2.6
Figure 2.7 External/Face-Mount Installation
Installation Method Description Installation Support Sets Model Required Tools
External/Face-Mount
Simplified installation with the digital
operator is mounted on the outside of
the panel with two screws.
Phillips screwdriver (#1)
Internal/Flush-Mount
Encloses the digital operator in the
panel. The digital operator is flush
with the outside of the panel.
Installation Support Set A
(for mounting with screws through
holes in the panel)
EZZ020642A Phillips screwdriver (#1, #2)
Installation Support Set B
(for use with threaded studs that are
fixed to the panel)
EZZ020642B
Phillips screwdriver (#1)
Wrench (7 mm)
S/ N : J007XE273710001
9
0
7
8
60
7.9
minimum
50
Unit: mm
12.2 1.6 Installation holes (2-M3 screws, depth 5)
44
1
5
YEC_TMonly
Digital Operator
M3 6
Phillips recessed
pan head machine screw 2
Enclosure panel
Unit: mm
common_TMonly
2.2 Mechanical Installation
46 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Figure 2.7
Figure 2.8 Panel Cut-Out Dimensions (External/Face-Mount Installation)
Internal/Flush-Mount
An internal flush-mount requires an installation support set that must be purchased separately. Contact your Yaskawa
representative to order an installation support set and mounting hardware. Figure 2.9 illustrates how to attach the
Installation Support Set A.
1. Cut an opening in the enclosure panel for the digital operator as shown in Figure 2.10.
2. Mount the digital operator to the installation support.
3. Mount the installation support set and digital operator to the enclosure panel.
Figure 2.8
Figure 2.9 Internal/Flush Mount Installation
Note: For environments with a significant amount of dust or other airborne debris, use a gasket between the enclosure panel and the
digital operator.
Figure 2.9
Figure 2.10 Panel Cut-Out Dimensions (Internal/Flush-Mount Installation)
22
22
14
2
6
2
2
7
8
2
Unit: mm
common_TMonly
Enclosure panel
Unit: mm
Digital Operator
Installation Support Set A
M4 10
Phillips truss head screw 4
(for panel widths between 1 and 1.6) M3 6
Phillips recessed
pan head machine screw 2
common_TMonly
1
2
0
45
59
+0.5
0
8
9
+
0
.
5
0
Unit : mm
common_TMonly
2.2 Mechanical Installation
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 47
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Exterior and Mounting Dimensions
Table 2.3 Drive Models and Types
Protective Design
Drive Model CIMR-A
Page
Three-Phase
200 V Class
Three-Phase
400 V Class
IP20/NEMA Type 1 Enclosure
2A0004F
2A0006F
2A0008F
2A0010F
2A0012F
2A0018F
2A0021F
2A0030F
2A0040F
2A0056F
2A0069F
2A0081F
4A0002F
4A0004F
4A0005F
4A0007F
4A0009F
4A0011F
4A0018F
4A0023F
4A0031F
4A0038F
4A0044F
48
IP00 Enclosure
2A0110A
2A0138A
2A0169A
2A0211A
2A0250A
2A0312A
2A0360A
2A0415A
4A0058A
4A0072A
4A0088A
4A0103A
4A0139A
4A0165A
4A0208A
4A0250A
4A0296A
4A0362A
4A0414A
4A0515A
4A0675A
50
2.2 Mechanical Installation
48 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
IP20/NEMA Type 1 Enclosure Drives
Note: IP20/NEMA Type 1 enclosure drives are equipped with a top cover. Removing this cover voids NEMA Type 1 protection but
still keeps IP20 conformity.
Table 2.4 Dimensions for IP20/NEMA Type 1 Enclosure: 200 V Class
Drive Model
CIMR-A2A
Dimensions (mm)
Figure W H D W1 H0 H1 H2 H3 D1 t1 t2 d
Weight
(kg)
0004
1
<1>
140 260 147 122 248 6 38 5 M5 3.1
0006 140 260 147 122 248 6 38 5 M5 3.1
0008 140 260 147 122 248 6 38 5 M5 3.2
0010 140 260 147 122 248 6 38 5 M5 3.2
0012 140 260 147 122 248 6 38 5 M5 3.2
0018 140 260 164 122 248 6 55 5 M5 3.5
0021 140 260 164 122 248 6 55 5 M5 3.5
0030 140 260 167 122 248 6 55 5 M5 4.0
0040 140 260 167 122 248 6 55 5 M5 4.0
0056 180 300 187 160 284 8 75 5 M5 5.6
0069 220 350 197 192 335 8 78 5 M6 8.7
0081
2
<1>
220 365 197 192 350 335 8 15 78 5 M6 9.7
W1
4-d
H
1H
H
0
H
2
H
3
W Max.8 Max.8 D
D1
t2
t1
Figure 3
H
2
W1
1
.
5
H
H
0
H
1
W
D1
D
t1
H
3
Figure 2
4-d
W1
1
.
5
H
H
1
H
2
W
D
D1
t1
Figure 1
4-d
YEC_common
2.2 Mechanical Installation
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 49
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Table 2.5 Dimensions for IP20/NEMA Type 1 Enclosure: 400 V Class
0110
3
<2>
254 534 258 195 400 385 7.5 134 100 2.3 2.3 M6 23
0138 279 614 258 220 450 435 7.5 164 100 2.3 2.3 M6 28
0169 329 730 283 260 550 535 7.5 180 110 2.3 2.3 M6 41
0211 329 730 283 260 550 535 7.5 180 110 2.3 2.3 M6 42
0250 456 960 330 325 705 680 12.5 255 130 3.2 3.2 M10 83
0312 456 960 330 325 705 680 12.5 255 130 3.2 3.2 M10 88
0360 504 1168 350 370 800 773 13 368 130 4.5 4.5 M12 108
<1> Removing the top protective cover from a IP20/NEMA Type 1 drive voids NEMA Type 1 protection but still keeps IP20 conformity.
<2> Special order required. Contact your Yaskawa sales representative.
Drive Model
CIMR-A4A
<1> Removing the top protective cover from a IP20/NEMA Type 1 drive voids NEMA Type 1 protection but still keeps IP20 conformity.
<2> Special order required. Contact your Yaskawa sales representative.
Dimensions (mm)
Figure W H D W1 H0 H1 H2 H3 D1 t1 t2 d
Weight
(kg)
0002
1
<1>
140 260 147 122 248 6 38 5 M5 3.2
0004 140 260 147 122 248 6 38 5 M5 3.2
0005 140 260 147 122 248 6 38 5 M5 3.2
0007 140 260 164 122 248 6 55 5 M5 3.4
0009 140 260 164 122 248 6 55 5 M5 3.5
0011 140 260 164 122 248 6 55 5 M5 3.5
0018 140 260 167 122 248 6 55 5 M5 3.9
0023 140 260 167 122 248 6 55 5 M5 3.9
0031 180 300 167 160 284 8 55 5 M5 5.4
0038 180 300 187 160 284 8 75 5 M5 5.7
0044 220 350 197 192 335 8 78 5 M6 8.3
0058
3
<2>
254 465 258 195 400 385 7.5 65 100 2.3 2.3 M6 23
0072 279 515 258 220 450 435 7.5 65 100 2.3 2.3 M6 27
0088 329 630 258 260 510 495 7.5 120 105 2.3 3.2 M6 39
0103 329 630 258 260 510 495 7.5 120 105 2.3 3.2 M6 39
0139 329 730 283 260 550 535 7.5 180 110 2.3 2.3 M6 45
0165 329 730 283 260 550 535 7.5 180 110 2.3 2.3 M6 46
0208 456 960 330 325 705 680 12.5 255 130 3.2 3.2 M10 87
0250 504 1168 350 370 800 773 13 368 130 4.5 4.5 M12 106
0296 504 1168 350 370 800 773 13 368 130 4.5 4.5 M12 112
0362 504 1168 350 370 800 773 13 368 130 4.5 4.5 M12 117
Drive Model
CIMR-A2A
Dimensions (mm)
Figure W H D W1 H0 H1 H2 H3 D1 t1 t2 d
Weight
(kg)
2.2 Mechanical Installation
50 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
IP00 Enclosure Drives
Figure 1
W1 4-d
H
1
H
H
2
Max 10 Max 10
W
t2
t1
D1
D
YEC_common
D1
D
t2
H
1
H
2
H
4-d
W1
W Max 7.7 Max 7.7
t1
Figure 2
YEC_common
D1
D
W
H
1
H
2
H
Max 6 Max 6
4-d
t2
Figure 3
t1
W1
YEC_common
2.2 Mechanical Installation
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 51
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Table 2.6 Dimensions for IP00 Enclosure: 200 V Class
Table 2.7 Dimensions for IP00 Enclosure: 400 V Class
Drive Model
CIMR-A2A
Dimensions (mm)
Figure W H D W1 H1 H2 D1 t1 t2 d
Weight
(kg)
0110
1
250 400 258 195 385 7.5 100 2.3 2.3 M6 21
0138 275 450 258 220 435 7.5 100 2.3 2.3 M6 25
0169 325 550 283 260 535 7.5 110 2.3 2.3 M6 37
0211 325 550 283 260 535 7.5 110 2.3 2.3 M6 38
0250 450 705 330 325 680 12.5 130 3.2 3.2 M10 76
0312 450 705 330 325 680 12.5 130 3.2 3.2 M10 80
0360 500 800 350 370 773 13 130 4.5 4.5 M12 98
0415 500 800 350 370 773 13 130 4.5 4.5 M12 99
Drive Model
CIMR-A4A
Dimensions (mm)
Figure W H D W1 H1 H2 D1 t1 t2 d
Weight
(kg)
0058
1
250 400 258 195 385 7.5 100 2.3 2.3 M6 21
0072 275 450 258 220 435 7.5 100 2.3 2.3 M6 25
0088 325 510 258 260 495 7.5 105 2.3 3.2 M6 36
0103 325 510 258 260 495 7.5 105 2.3 3.2 M6 36
0139 325 550 283 260 535 7.5 110 2.3 2.3 M6 41
0165 325 550 283 260 535 7.5 110 2.3 2.3 M6 42
0208 450 705 330 325 680 12.5 130 3.2 3.2 M10 79
0250 500 800 350 370 773 13 130 4.5 4.5 M12 96
0296 500 800 350 370 773 13 130 4.5 4.5 M12 102
0362 500 800 350 370 773 13 130 4.5 4.5 M12 107
0414 2 500 950 370 370 923 13 135 4.5 4.5 M12 125
0515
3
670 1140 370 440 1110 15 150 4.5 4.5 M12 216
0675 670 1140 370 440 1110 15 150 4.5 4.5 M12 221
2.2 Mechanical Installation
52 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
3
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 53
Electrical Installation
This chapter explains proper procedures for wiring the control circuit terminals, motor, and
power supply.
3.1 SECTION SAFETY. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
3.2 STANDARD CONNECTION DIAGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
3.3 MAIN CIRCUIT CONNECTION DIAGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
3.4 TERMINAL BLOCK CONFIGURATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
3.5 TERMINAL COVER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
3.6 DIGITAL OPERATOR AND FRONT COVER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
3.7 TOP PROTECTIVE COVER. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
3.8 MAIN CIRCUIT WIRING. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
3.9 CONTROL CIRCUIT WIRING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
3.10 CONTROL I/O CONNECTIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
3.11 TERMINAL A2 ANALOG INPUT SIGNAL SELECTION. . . . . . . . . . . . . . . . . . . . . 85
3.12 CONNECT TO A PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
3.13 MEMOBUS/MODBUS TERMINATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
3.14 EXTERNAL INTERLOCK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
3.15 WIRING CHECKLIST. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
54 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
3.1 Section Safety
3.1 Section Safety
DANGER
Electrical Shock Hazard
Do not connect or disconnect wiring while the power is on.
Failure to comply will result in death or serious injury.
W ARNING
Electrical Shock Hazard
Do not operate equipment with covers removed.
Failure to comply could result in death or serious injury.
The diagrams in this section may show drives without covers or safety shields to show details. Be sure to reinstall
covers or shields before operating the drives and run the drives according to the instructions described in this manual.
Always ground the motor-side grounding terminal.
Improper equipment grounding could result in death or serious injury by contacting the motor case.
Do not perform work on the drive while wearing loose clothing, jewelry or without eye protection.
Failure to comply could result in death or serious injury.
Remove all metal objects such as watches and rings, secure loose clothing, and wear eye protection before beginning
work on the drive.
Do not remove covers or touch circuit boards while the power is on.
Failure to comply could result in death or serious injury.
Do not allow unqualified personnel to perform work on the drive.
Failure to comply could result in death or serious injury.
Installation, maintenance, inspection, and servicing must be performed only by authorized personnel familiar with
installation, adjustment, and maintenance of AC drives.
Do not touch any terminals before the capacitors have fully discharged.
Failure to comply could result in death or serious injury.
Before wiring terminals, disconnect all power to the equipment. The internal capacitor remains charged even after the
power supply is turned off. After shutting off the power, wait for at least the amount of time specified on the drive
before touching any components.
Fire Hazard
Tighten all terminal screws to the specified tightening torque.
Loose electrical connections could result in death or serious injury by fire due to overheating of electrical connections.
Do not use improper combustible materials.
Failure to comply could result in death or serious injury by fire.
Do not install the drive to a combustible surface. Never place combustible materials on the drive.
Do not use an improper voltage source.
Failure to comply could result in death or serious injury by fire.
Verify that the rated voltage of the drive matches the voltage of the incoming power supply before applying power.
When installing dynamic braking options, perform all wiring exactly as specified in the wiring diagrams
provided.
Failure to do so can result in fire. Improper wiring may damage braking components.
3.1 Section Safety
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 55
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CAUTION
Do not carry the drive by the front cover or the terminal cover.
Failure to comply may cause the main body of the drive to fall, resulting in minor or moderate injury.
NOTICE
Observe proper electrostatic discharge procedures (ESD) when handling the drive and circuit boards.
Failure to comply may result in ESD damage to the drive circuitry.
Never connect or disconnect the motor from the drive while the drive is outputting voltage.
Improper equipment sequencing could result in damage to the drive.
Do not use unshielded cable for control wiring.
Failure to comply may cause electrical interference resulting in poor system performance. Use shielded, twisted-pair
wires and ground the shield to the ground terminal of the drive.
Do not allow unqualified personnel to use the product.
Failure to comply could result in damage to the drive or braking circuit.
Carefully review instruction manual TOBPC72060000 when connecting a dynamic braking option to the drive.
Do not modify the drive circuitry.
Failure to comply could result in damage to the drive and will void warranty.
Yaskawa is not responsible for any modification of the product made by the user. This product must not be modified.
Check all the wiring to ensure that all connections are correct after installing the drive and connecting any other
devices.
Failure to comply could result in damage to the drive.
56 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
3.2 Standard Connection Diagram
3.2 Standard Connection Diagram
Connect the drive and peripheral devices as shown in Figure 3.1. It is possible to set and run the drive via the digital
operator without connecting digital I/O wiring. This section does not discuss drive operation; Refer to Start-Up
Programming & Operation on page 91 for instructions on operating the drive.
NOTICE: Inadequate wiring could result in damage to the drive. Install adequate branch circuit short circuit protection per applicable
codes. The drive is suitable for circuits capable of delivering not more than 100,000 RMS symmetrical amperes, 240 Vac maximum
(200 V Class) and 480 Vac maximum (400 V Class).
NOTICE: When the input voltage is 440 V or higher or the wiring distance is greater than 100 meters, pay special attention to the
motor insulation voltage or use a drive duty motor. Failure to comply could lead to motor insulation breakdown.
NOTICE: Do not connect AC control circuit ground to drive enclosure. Improper drive grounding can cause control circuit malfunction.
NOTICE: The minimum load for the multi-function relay output MA-MB-MC is 10 mA. If a circuit requires less than 10 mA (reference
value), connect it to a photocoupler output (P1, P2, PC). Improper application of peripheral devices could result in damage to the
photocoupler output of the drive.
Figure 3.1
Figure 3.1 Drive Standard Connection Diagram (example: CIMR-A2A0040)
Figure 3.2
Figure 3.3
+
+
+ +
+
+
<4>
<6> A+
A
B
Z
B+
Z+
AO
IG
BO
IG
ZO
IG
FE
IP
IG
TB1
SD
TB2
B track monitor
A track monitor
M
U/T1
V/T2
W/T
U
V
W
3
Ground
Cooling fan
PG
M
Terminals -, +1, +2, B1, B2 are
for connection options. Never
connect power supply lines to
these terminals
DC reactor
(option)
U X
Thermal relay
(option)
+
+
+ +
+
+
U X
S1
S2
S3
S4
S5
S6
S7
MP
DM
DM
RP
A1
A2
A3
0 V
AC
R
R
S
S
IG
H1
H2
HC
Drive
B1 1 2 B2
2 k
S8
SC
FM
AM
0 V
0 V
AC
FM
AM
AC
E (G)
S1
S2
<1>
<2>
<3>
<11>
<8>
<12>
<13>
<13>
<9>
<10>
<8>
<7>
<5>
V I
+24 V
+V
MA
M1
M2
P1
P2
MB
MC
PC
CN5-C
CN5-B
CN5-A
Jumper
Braking resistor
(option)
Forward Run / Stop
Reverse Run / Stop
External fault
Fault reset
Multi-speed step 1
Multi-speed step 2
External Baseblock
Jog speed
Multi-function
digtial inputs
(default setting)
Sink / Source mode
selection jumper S3
(default: Sink)
Option board
connectors
Pulse Train Input (max 32 kHz)
Shield ground terminal
Multi-function
analog/ pulse
train inputs
Power supply +10.5 Vdc, max. 20 mA
Analog Input 1
(Frequency Reference Bias)
0 to +10 Vdc (20 k)
Analog Input 2
(Frequency Reference Bias)
0 to +10 Vdc (20 k)
4 to 20 mA / 0 to 20 mA (250 )
Analog Input 3
(Aux. frequency reference)
0 to +10 Vdc (20 k)
V Power supply, -10.5 Vdc, max. 20 mA
Safety
switch
MEMOBUS/Modbus
comm. RS485/422
max. 115.2 kBps
Safe Disable inputs
Wire
jumper
Open
Safety relay /
controller
Termination resistor
(120 , 1/2 W)
DIP
Switch S2
DIP Switch S1
Fault relay output
250 Vac, max. 1 A
30 Vdc, max 1 A
(min. 5 Vdc, 10 mA)
Multi-function relay output
(During Run)
250 Vac, max. 1 A
30 Vdc, max 1 A
(min. 5 Vdc, 10 mA)
Multi-function photo coupler output 1
(Zero Speed)
48 Vdc, max 50 mA
Multi-function photo coupler output 2
(Speed Agree 1)
48 Vdc, max 50 mA
Multi-function pulse train output
(Output frequency)
0 to 32 kHz (2.2 k)
Multi-function analog output 1
(Output frequency)
-10 to +10 Vdc (2mA)
Multi-function analog output 2
(Output current)
-10 to +10 Vdc (2mA)
EDM
(Safety Electronic Device Monitor)
Main Circuit
Control Circuit
shielded line
twisted-pair shielded line
main circuit terminal
control circuit terminal
PGB3
r1
s1
t1
FU
FV
FW
R/L1
S/L2
T/L3
Fuse
MC 2MCCB MB ON OFF THRX
SA
1 2
TRX
MC MA
TRX
Fault relay
contact
Braking resistor unit
Thermal relay trip contact
MC
MC
SA
SA
THRX
ELCB (MCCB)
R
T
S
Three-phase
power supply
200 to 240 V
50/60 Hz
<14>
2MCCB
r1
s1
t1
MC
Wiring sequence should shut off
power to the drive when a fault
output is triggered.
If running from a 400 V power
supply, a step-down transformer
is needed to reduce the voltage
to 200 V.
YEC_common
3.2 Standard Connection Diagram
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 57
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Figure 3.4
WARNING! Sudden Movement Hazard. Do not close the wiring for the control circuit unless the multifunction input terminal
parameters are properly set. Improper sequencing of run/stop circuitry could result in death or serious injury from moving equipment.
WARNING! Sudden Movement Hazard. Ensure start/stop and safety circuits are wired properly and in the correct state before
energizing the drive. Failure to comply could result in death or serious injury from moving equipment. When programmed for 3-Wire
control, a momentary closure on terminal S1 may cause the drive to start.
WARNING! When 3-Wire sequence is used, set the drive to 3-Wire sequence before wiring the control terminals and ensure
parameter b1-17 is set to 0 (drive does not accept a run command at power up (default). If the drive is wired for 3-Wire sequence but
set up for 2-Wire sequence (default) and if parameter b1-17 is set to 1 (drive accepts a Run command at power up), the motor will
rotate in reverse direction at power up of the drive and may cause injury.
WARNING! When the application preset function is executed (or A1-06 is set to any value other than 0) the drive I/O terminal functions
change. This may cause unexpected operation and potential damage to equipment or injury.
WARNING! When using the automatic fault restart function while the wiring is made to shut off the power supply when a drive fault
occurs, make sure the drive is set not to trigger a fault output during fault restart (L5-02=0, default). Otherwise the fault restart function
can not work properly.
<1> Remove the jumper when installing a DC reactor. Models CIMR-A2A0110 through 2A0415 and 4A0058 through 4A0675 come with a
built-in DC reactor.
<2> When installing a dynamic braking option, a thermal relay sequence should also be set up to shut off power to the drive in case overheat
occurs.
<3> The drives protection function for the internal braking transistor needs to be disabled (L8-55 = 0) if using a regen unit such as a regen
converter or some type of dynamic braking options (and therefore not the internal braking transistor). If left enabled, a braking resistor fault
(rF) may result. Make sure Stall Prevention is disabled (L3-04 = 0) whenever using a regenerative converter, a regenerative unit or a dynamic
braking option. If left enabled, the drive may not stop within the specified deceleration time.
<4> Self-cooling motors do not require wiring that would be necessary with motors using a cooling fan.
<5> Supplying power to the control circuit separately from the main circuit requires a 24 V power supply (option).
<6> For control modes that do not use a motor speed feedback signal, PG option card wiring is not necessary.
<7> This figure shows an example of a sequence input to S1 through S8 using a non-powered relay or an NPN transistor. Use jumper S3 to select
sink or source, and an internal or external power supply.
<8> The maximum output current capacity for the +V and -V terminals on the control circuit is 20 mA. Never short terminals +V, -V, and AC, as
this can cause erroneous operation or damage the drive.
<9> Set DIP switch S1 to select between a voltage or current input signal to terminal A2. The default setting is for current input.
<10> Enable the termination resistor in the last drive in a MEMOBUS network by setting DIP switch S2 to the ON position.
<11> The sink/source setting for the Safe Disable input is the same as with the sequence input. Jumper S3 has the drive set for an external power
supply. When not using the Safe Disable input feature, remove the jumper shorting the input and connect an external power supply. Refer to
Figure 3.35 for instructions.
<12> Disconnect the wire jumper between H1 - HC and H2 - HC when utilizing the Safe Disable input.
<13> Monitor outputs work with devices such as analog frequency meters, ammeters, voltmeters, and wattmeters. They are not intended for use as
a feedback-type of signal.
<14> Note that if the drive is set to trigger a fault output whenever the fault restart function is activated (L5-02 = 1), then a sequence to interrupt
power when a fault occurs will result in shutting off the power to the drive as the drive attempts to restart itself. The default setting for L5-02
is 0 (fault output not active during restart attempt).
58 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
3.3 Main Circuit Connection Diagram
3.3 Main Circuit Connection Diagram
Refer to diagrams in this section when wiring the drives main circuit. Connections may vary based on drive capacity.
The DC power supply for the main circuit also provides power to the control circuit.
NOTICE: Do not use the negative DC bus terminal - as a ground terminal. This terminal is at high DC voltage potential. Improper
wiring connections could damage the drive.
Three-Phase 200 V Class (CIMR-A2A0004 to 0081)
Three-Phase 400 V Class (CIMR-A4A0002 to 0044)
Figure 3.5
Figure 3.2 Connecting Main Circuit Terminals
Three-Phase 200 V Class (CIMR-A2A0110, 0138)
Three-Phase 400 V Class (CIMR-A4A0058, 0072)
Figure 3.6
Figure 3.3 Connecting Main Circuit Terminals
Three-Phase 200 V Class (CIMR-A2A0169 to 0415)
Three-Phase 400 V Class (CIMR-A4A0088 to 0675)
Figure 3.7
Figure 3.4 Connecting Main Circuit Terminals
Braking Resistor Unit
(option)
Drive
Motor
Jumper
DC reactor
(option)
B1
+1
R/L1
S/L2
T/L3
U/T1
V/T2
W/T3
+2
B2
3 Phase power supply
200 to 240 Vac, 50 to 60 Hz
380 to 480 Vac, 50 to 60 Hz
YEC_common
Braking Resistor Unit
(option)
Drive
Motor
B1
R/L1
S/L2
T/L3
U/T1
V/T2
W/T3
B2
3 Phase power supply
200 to 240 Vac, 50 to 60 Hz
380 to 480 Vac, 50 to 60 Hz
+1
3 + 1 +
CIMR-A4A0088, 0103
CIMR-A2A0110, 0138
CIMR-A4A0058, 0072
CIMR-A2A0169, 0211, 0250, 0312, 0360, 0415
CIMR-A4A0139, 0165, 0208, 0250, 029 6, 0362
<1>
CIMR-A2A0004, 0006, 0008, 0010,
0012, 0018, 0021
CIMR-A4A0002, 0004, 0005,
0007, 0009, 0011
R/L1 S/L2 T/L3 B1 B2 U/T1 V/T2 W/T3
+1 +2
CIMR-A2A0069, 0081
B1 B2
+1 +2
CIMR-A2A0030, 0040
CIMR-A4A0018, 0023
U/T1 V/T2 W/T3 +1 +2 R/L1 S/L2 T/L3
B1 B2
CIMR-A2A0056
CIMR-A4A0031, 0038, 0044
S/L2 T/L3 U/T1 V/T2 W +1 +2
B1 B2
YEC_TMonly
3.4 Terminal Block Configuration
60 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Figure 3.9
Figure 3.5 Main Circuit Terminal Block Configuration
<1> Terminal board design differs slightly for models CIMR-A2A0250 through 2A0415 and 4A0208 through 4A0362.
R/L1 S/L2 T/L3 U/T1 V/T2 W/T3
3 + 1 +
R/L1 S/L2 T/L3 U/T1 V/T2 W/T3
3 + 1 +
CIMR-A4A0414
CIMR-A4A0515, 0675
YEC_TMonly
3.5 Terminal Cover
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 61
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3.5 Terminal Cover
Follow the procedure below to remove the terminal cover for wiring and to reattach the terminal cover after wiring is
complete.
CIMR-A2A0004 to 0081, 4A0002 to 0044 (IP20/NEMA Type 1 Enclosure)
Removing the Terminal Cover
1. Loosen the terminal cover screw.
Figure 3.10
Figure 3.6 Removing the Terminal Cover on an IP20/NEMA Type 1 Enclosure Drive
2. Push in on the hook located on the bottom of the terminal cover, and gently pull forward. This should remove the
terminal cover.
Figure 3.11
Figure 3.7 Removing the Terminal Cover on an IP20/NEMA Type 1 Enclosure Drive
Reattaching the Terminal Cover
Power lines and signal wiring should pass through the opening provided. Refer to Wiring the Main Circuit Terminal on
page 74 and Wiring the Control Circuit Terminal on page 79 for details on wiring.
After all wiring to the drive and other devices is complete, reattach the terminal cover.
Figure 3.12
Figure 3.8 Reattaching the Terminal Cover on an IP20/NEMA Type 1 Enclosure Drive
YEC_common
YEC_common
Connect ground wiring first,
followed by the main circuit,
and then wire the control circuit.
Power lines and signal wiring
exit through the opening provided.
YEC_common
3.5 Terminal Cover
62 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
CIMR-A2A0110 to 0415, 4A0058 to 0675 (IP00 Enclosure)
Removing the Terminal Cover
1. Loosen the screws <1> on the terminal cover, then pull down on the cover.
CAUTION! Do not completely remove the cover screws, just loosen them. If the cover screws are removed completely, the terminal
cover may fall off causing an injury.
Figure 3.13
Figure 3.9 Removing the Terminal Cover on an IP00 Enclosure Drive
2. Pull forward on the terminal cover to free it from the drive.
Figure 3.14
Figure 3.10 Removing the Terminal Cover on an IP00 Enclosure Drive
Reattaching the Terminal Cover
Once wiring to the terminal board and other devices is complete, double check all connections and finally reattach the
terminal cover. Refer to Wiring the Main Circuit Terminal on page 74 and Wiring the Control Circuit Terminal on
page 79 for details on wiring.
Figure 3.15
Figure 3.11 Reattaching the Terminal Cover on an IP00 Enclosure Drive
<1> The following drives have three screws on the top of terminal cover.
-CIMR-A2A0250 to 2A0415
-CIMR-A4A0208 to 4A0675
YEC_common
YEC_common
Connect ground wiring first,
followed by the main circuit,
and then wire the control circuit.
YEC_common
3.6 Digital Operator and Front Cover
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 63
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3.6 Digital Operator and Front Cover
The digital operator can be detached from the drive for remote operation, or when the front cover has to be opened to
install an option card.
NOTICE: Be sure the digital operator has been removed prior to opening the front cover or reattaching it. Leaving the digital operator
plugged into the drive when removing the front cover can result in erroneous operation caused by a poor connection. Before
reattaching the operator make sure the front cover has been firmly fastened back into place.
Removing/Reattaching the Digital Operator
Removing the Digital Operator
While pinching inwards on the hook located on the right side of the digital operator, pull forward and remove the
operator from the drive.
Figure 3.16
Figure 3.12 Removing the Digital Operator
Reattaching the Digital Operator
Insert the digital operator into the opening in the front cover while aligning it with the notches on the left side of the
opening. Next press gently on the right side of the operator until it clicks into place.
Figure 3.17
Figure 3.13 Reattaching the Digital Operator
Removing/Reattaching the Front Cover
Removing the Front Cover
2A0004 to 2A0081 and 4A0002 to 4A0044
After removing the terminal cover and the digital operator, loosen the screw that affixes the front cover (model CIMR-
A2A0056, 4A0031, 4A0038 do not use a screw to affix the front cover). Pinch inwards on hooks found on each side of
the front cover, then pull forward to remove it from the drive.
Figure 3.18
Figure 3.14 Remove the Front Cover (2A0004 to 2A0081 and 4A0002 to 4A0044)
YEC_common
YEC_common
YEC_common
3.6 Digital Operator and Front Cover
64 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
2A0110 to 2A0415 and 4A0058 to 4A0675
1. Remove the terminal cover and the digital operator.
2. Loosen the installation screw on the front cover.
3. Use a straight-edge screwdriver to loosen the hooks on each side of the cover that hold it in place.
Figure 3.19
Figure 3.15 Remove the Front Cover (2A0110 to 2A0415 and 4A0058 to 4A0675)
4. First unhook the left side of the front cover, then swing the left side towards you as shown in the figure below
until the cover comes off.
Figure 3.20
Figure 3.16 Remove the Front Cover (2A0110 to 2A0415 and 4A0058 to 4A0675)
Hook Hook
Front cover
installation screw
Free hooks on both
sides of the cover
YEC_common
YEC_common
3.6 Digital Operator and Front Cover
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 65
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Reattaching the Front Cover
2A0004 to 2A0081 and 4A0002 to 4A0044
Reverse the instructions given in Remove the Front Cover (2A0004 to 2A0081 and 4A0002 to 4A0044) on page 63 to
reattach the front cover. Pinch inwards on the hooks found on each side of the front cover while guiding it back into the
drive. Make sure it clicks firmly into place.
2A0110 to 2A0415 and 4A0058 to 4A0675
1. Slide the front cover so that the hooks on the top connect to the drive.
Figure 3.21
Figure 3.17 Reattach the Front Cover (2A0110 to 2A0415 and 4A0058 to 4A0675)
2. Once the hooks have connected to the drive, press firmly on the cover to make sure it locks into place.
YEC_c
ommon
66 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
3.7 Top Protective Cover
3.7 Top Protective Cover
Drive models CIMR-A2A0004 to 0081 and 4A0002 to 0058 are designed with NEMA Type 1 specifications, and have
a top protective cover on the top. Removing this top protective cover voids the NEMA Type 1 conformance but still
keeps a protection degree in accordance with IP20 enclosure.
Removing the Top Protective Cover
Insert the tip of a straight-edge screwdriver into the small openings located on the front edge of the top protective cover.
Gently apply pressure as shown in the figure below to free the cover from the drive.
Note: Removing the top protective cover from a IP20/NEMA Type 1 enclosure drive voids the NEMA Type 1 protection but still keeps
IP20 conformity.
Figure 3.22
Figure 3.18 Removing the Top Protective Cover
Reattaching the Top Protective Cover
Align the small protruding hooks on the sides of the top protective cover with the corresponding mounting holes on the
top of the drive. Pinch the hooks inward so that the they connect with the mounting holes and fasten the top protective
cover back into place.
Figure 3.23
Figure 3.19 Reattaching the Top Protective Cover
YEC_common
Top Protective Cover
Mounting Holes
YEC_common
3.8 Main Circuit Wiring
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 67
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3.8 Main Circuit Wiring
This section describes the functions, specifications, and procedures required to safely and properly wire the main circuit
in the drive.
NOTICE: Do not solder the ends of wire connections to the drive. Soldered wiring connections can loosen over time. Improper wiring
practices could result in drive malfunction due to loose terminal connections.
NOTICE: Do not switch the drive input to start or stop the motor. Frequently switching the drive on and off shortens the lifetime of the
DC bus charge circuit and the DC bus capacitors, and can cause premature drive failures. For the full performance life, refrain from
switching the drive on and off more than once every 30 minutes.
Main Circuit Terminal Functions
Table 3.1 Main Circuit Terminal Functions
Protecting Main Circuit Terminals
Insulation Cap
Use insulation caps when wiring the drive with crimp terminals. Take particular care to ensure that wiring does not touch
neighboring terminals or the surrounding case.
Terminal Type
Function Page
200 V
Class
Model
CIMR-A
2A0004 to 2A0081 2A0110, 2A0138 2A0169 to 2A0415
400 V
Class
4A0002 to 4A0044 4A0058 to 4A0072 4A0088 to 4A0675
R/L1
Main circuit power supply input Connects line power to the drive 56 S/L2
T/L3
U/T1
Drive output Connects to the motor 56 V/T2
W/T3
B1
Braking resistor not available
Available for connecting a braking resistor or a
braking resistor unit option
385
B2
+2 DC reactor connection (+1,
+2) (remove the shorting bar
between +1 and +2)
DC power supply input
(+1, )
not available
For connection
of the drive to a DC power supply (terminals +1
and are not EU or UL approved)
of dynamic braking options
of a DC reactor
389
+1
DC power supply input
(+1, )
DC power supply input
(+1, )
Braking unit connection
(+3, )
+3 not available
For 200 V class: 100 or less
For 400 V class: 10 or less
Grounding terminal 73
3.8 Main Circuit Wiring
68 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Insulation Barrier
Insulation barriers are packaged with drive models CIMR-A4A0414 through 0675 to provide added protection
between terminals. Yaskawa recommends using the insulation barriers provided to ensure proper wiring. See Figure 3.20
for instructions on where the insulation barriers should be placed.
Figure 3.24
Figure 3.20 Installing insulation barriers
Wire Gauges and Tightening Torque
Select the appropriate wires and crimp terminals from Table 3.2 through Table 3.3.
Note: 1. Wire gauge recommendations based on drive continuous current ratings (ND) using 75C 600 Vac vinyl-sheathed wire assuming
ambient temperature within 40C and wiring distance less than 100 m.
2. Terminals +1, +2, +3, , B1 and B2 are for connecting optional devices such as a DC reactor or braking resistor. Do not connect other
nonspecific devices to these terminals.
Consider the amount of voltage drop when selecting wire gauges. Increase the wire gauge when the voltage drop is
greater than 2% of motor rated voltage. Ensure the wire gauge is suitable for the terminal block. Use the following
formula to calculate the amount of voltage drop:
Line drop voltage (V) = wire resistance (/km) wire length (m) current (A) 10
-3
Refer to instruction manual TOBPC72060000 for braking unit or braking resistor unit wire gauges.
Use terminal +1 and the negative terminal when connecting a braking resistor, regenerative converter, or a regen unit.
Refer to UL Standards Compliance on page 526 for information on UL compliance.
Insulation Barrier
3
3.8 Main Circuit Wiring
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 69
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Three-Phase 200 V Class
Table 3.2 Wire Gauge and Torque Specifications (Three-Phase 200 V Class)
Model
CIMR-A
Terminal
For Asia <1> For U.S.A <2> For Europe and China <3>
Screw
Size
Tightening
Torque
Nm (lb.in.)
Recommended
Gauge
mm
2
Applicable
Gauge
mm
2
Recommended
Gauge
AWG, kcmil
Applicable
Gauge
AWG, kcmil
Recommended
Gauge
mm
2
Applicable
Gauge
mm
2
2A0004
2A0006
2A0008
2A0010
R/L1, S/L2, T/L3 2 2 to 5.5 14 14 to 10 2.5 2.5 to 6
M4
1.2 to 1.5
(10.6 to 13.3)
U/T1, V/T2, W/T3 2 2 to 5.5 14 14 to 10 2.5 2.5 to 6
, +1, +2 2 2 to 5.5 14 to 10 2.5 to 6
B1, B2 2 2 to 5.5 14 to 10 2.5 to 6
2 2 to 5.5 10 14 to 10 2.5 2.5 to 6
2A0012
R/L1, S/L2, T/L3 2 2 to 5.5 12 14 to 10 2.5 2.5 to 6
M4
1.2 to 1.5
(10.6 to 13.3)
U/T1, V/T2, W/T3 2 2 to 5.5 14 14 to 10 2.5 2.5 to 6
, +1, +2 2 2 to 5.5 14 to 10 2.5 to 6
B1, B2 2 2 to 5.5 14 to 10 2.5 to 6
3.5 2 to 5.5 10 14 to 10 2.5 2.5 to 6
2A0018
R/L1, S/L2, T/L3 3.5 2 to 5.5 10 12 to 10 2.5 2.5 to 6
M4
1.2 to 1.5
(10.6 to 13.3)
U/T1, V/T2, W/T3 3.5 2 to 5.5 10 14 to 10 2.5 2.5 to 6
, +1, +2 3.5 2 to 5.5 14 to 10 2.5 to 6
B1, B2 2 2 to 5.5 14 to 10 2.5 to 6
3.5 2 to 5.5 10 14 to 10 2.5 2.5 to 6
2A0021
R/L1, S/L2, T/L3 5.5 3.5 to 5.5 10 12 to 10 4 2.5 to 6
M4
1.2 to 1.5
(10.6 to 13.3)
U/T1, V/T2, W/T3 3.5 3.5 to 5.5 10 12 to 10 2.5 2.5 to 6
, +1, +2 5.5 3.5 to 5.5 12 to 10 4 to 6
B1, B2 2 2 to 5.5 14 to 10 2.5 to 6
3.5 3.5 to 5.5 10 12 to 10 4 4 to 6
2A0030
R/L1, S/L2, T/L3 14 5.5 to 14 8 10 to 6 6 4 to 16
M4
1.2 to 1.5
(10.6 to 13.3)
U/T1, V/T2, W/T3 8 5.5 to 14 8 10 to 6 6 4 to 16
, +1, +2 14 5.5 to 14 10 to 6 6 to 16
B1, B2 3.5 2 to 5.5 14 to 10 4 to 6
5.5 5.5 to 8 8 10 to 8 6 6 to 10 M5
2 to 2.5
(17.7 to 22.1)
2A0040
R/L1, S/L2, T/L3 14 14 6 8 to 6 10 6 to 16
M4
1.2 to 1.5
(10.6 to 13.3)
U/T1, V/T2, W/T3 14 8 to 14 8 8 to 6 10 6 to 16
, +1, +2 14 14 6 16
B1, B2 5.5 3.5 to 5.5 12 to 10 4 to 6
5.5 5.5 to 8 8 10 to 8 10 6 to 10 M5
2 to 2.5
(17.7 to 22.1)
2A0056
R/L1, S/L2, T/L3 22 14 to 22 4 6 to 4 16 16 to 25
M6
4 to 6
(35.4 to 53.1)
U/T1, V/T2, W/T3 14 14 to 22 4 6 to 4 16 16 to 25
, +1, +2 22 14 to 22 6 to 4 16 to 25
B1, B2 14 5.5 to 14 10 to 6 6 to 10 M5
2 to 2.5
(17.7 to 22.1)
8 8 to 14 6 8 to 6 16 10 to 16 M6
4 to 6
(35.4 to 53.1)
2A0069
R/L1, S/L2, T/L3 30 22 to 30 3 4 to 3 25 16 to 25
M8
9 to11
(79.7 to 97.4)
U/T1, V/T2, W/T3 22 14 to 30 3 4 to 3 16 16 to 25
, +1, +2 30 22 to 30 4 to 3 25
B1, B2 14 8 to 14 8 to 6 10 to 16 M5
2 to 2.5
(17.7 to 22.1)
8 8 to 22 6 6 to 4 16 16 to 25 M6
4 to 6
(35.4 to 53.1)
2A0081
R/L1, S/L2, T/L3 38 30 to 38 2 3 to 2 35 25 to 35
M8
9 to11
(79.7 to 97.4)
U/T1, V/T2, W/T3 30 22 to 38 2 3 to 2 25 25 to 35
, +1, +2 38 30 to 38 3 to 2 25 to 35
B1, B2 14 14 6 16 M5
2 to 2.5
(17.7 to 22.1)
14 14 to 22 6 6 to 4 16 16 to 25 M6
4 to 6
(35.4 to 53.1)
2A0110
R/L1, S/L2, T/L3 38 30 to 50 1/0 3 to 1/0 35 25 to 50
M8
9 to 11
(79.7 to 97.4)
U/T1, V/T2, W/T3 38 30 to 50 1/0 3 to 1/0 35 25 to 50
, +1 60 38 to 60 2 to 1/0 35 to 50
B1, B2 22 14 to 50 6 to 1/0 16 to 50
14 14 to 38 6 6 to 4 16 16 to 25
3.8 Main Circuit Wiring
70 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Three-Phase 400 V Class
Table 3.3 Wire Gauge and Torque Specifications (Three-Phase 400 V Class)
2A0138
R/L1, S/L2, T/L3 60 50 to 60 2/0 1 to 2/0 50 35 to 70
M10
18 to 23
(159 to 204)
U/T1, V/T2, W/T3 60 50 to 60 2/0 1 to 2/0 50 35 to 70
, +1 80 60 to 80 1/0 to 3/0 50 to 70
B1, B2 30 22 to 60 4 to 2/0 25 to 70
22 22 to 38 4 4 25 25 M8
9 to 11
(79.7 to 97.4)
2A0169
R/L1, S/L2, T/L3 80 60 to 100 4/0 2/0 to 4/0 70 50 to 95
M10
18 to 23
(159 to 204)
U/T1, V/T2, W/T3 80 60 to 100 4/0 3/0 to 4/0 70 50 to 95
, +1 50 2P 50 to 100 1 to 4/0 35 to 95
+3 60 50 to 100 1/0 to 4/0 50 to 95
22 22 to 60 4 4 to 2 35 25 to 35 M8
9 to 11
(79.7 to 97.4)
2A0211
R/L1, S/L2, T/L3 100 80 to 100 1/0 2P 1/0 to 2/0 95 70 to 95
M10
18 to 23
(159 to 204)
U/T1, V/T2, W/T3 50 2P 50 to 60 1/0 2P 1/0 to 2/0 95 70 to 95
, +1 50 2P 50 to 100 1 to 4/0 35 to 95
+3 80 60 to 100 1/0 to 4/0 50 to 95
22 22 to 60 4 4 to 1/0 50 25 to 50 M8
9 to 11
(79.7 to 97.4)
2A0250
R/L1, S/L2, T/L3 80 2P 38 to 150 3/0 2P 3/0 to 300 95 2P 95 to 150
M12
32 to 40
(283 to 354)
U/T1, V/T2, W/T3 80 2P 38 to 150 3/0 2P 3/0 to 300 95 2P 95 to 150
, +1 80 2P 80 to 150 3/0 to 300 70 to 150
+3 80 2P 30 to 150 2 to 300 35 to 150 M10
18 to 23
(159 to 204)
22 22 to 150 3 3 to 300 95 95 to 150 M12
32 to 40
(283 to 354)
2A0312
R/L1, S/L2, T/L3 80 2P 70 to 150 4/0 2P 3/0 to 300 95 2P 95 to 150
M12
32 to 40
(283 to 354)
U/T1, V/T2, W/T3 80 2P 70 to 200 3/0 2P 3/0 to 300 95 2P 95 to 150
, +1 150 2P 80 to 150 3/0 to 300 70 to 150
+3 80 2P 80 to 150 3/0 to 300 70 to 150 M10
18 to 23
(159 to 204)
38 38 to 150 2 2 to 300 95 95 to 150 M12
32 to 40
(283 to 354)
2A0360
R/L1, S/L2, T/L3 100 2P 80 to 325 250 2P 4/0 to 600 240 95 to 300
M12
32 to 40
(283 to 354)
U/T1, V/T2, W/T3 100 2P 80 to 325 4/0 2P 4/0 to 600 240 95 to 300
, +1 150 2P 125 to 325 250 to 600 125 to 300
+3 80 2P 80 to 325 3/0 to 600 70 to 300 M10
18 to 23
(159 to 204)
38 38 to 200 1 1 to 350 120 120 to 240 M12
32 to 40
(283 to 354)
2A0415
R/L1, S/L2, T/L3 125 2P 100 to 325 350 2P 250 to 600 120 2P 95 to 300
M12
32 to 40
(283 to 354)
U/T1, V/T2, W/T3 125 2P 125 to 325 300 2P 300 to 600 300 95 to 300
, +1 200 2P 150 to 325 300 to 600 150 to 300
+3 100 2P 80 to 325 3/0 to 600 70 to 300 M10
18 to 23
(159 to 204)
60 60 to 200 1 1 to 350 120 120 to 240 M12
32 to 40
(283 to 354)
<1> Gauges listed here are for use in Japan.
<2> Gauges listed here are for use in the United States.
<3> Gauges listed here are for use in Europe and China.
Model
CIMR-A
Terminal
For Asia <1> For U.S.A <2> For Europe and China <3>
Screw
Size
Tightening
Torque
Nm (lb.in.)
Recommended
Gauge
mm
2
Applicable
Gauge
mm
2
Recommended
Gauge
AWG, kcmil
Applicable
Gauge
AWG, kcmil
Recommended
Gauge
mm
2
Applicable
Gauge
mm
2
4A0002
4A0004
R/L1, S/L2, T/L3 2 2 to 5.5 14 14 to 10 2.5 2.5 to 6
M4
1.2 to 1.5
(10.6 to 13.3)
U/T1, V/T2, W/T3 2 2 to 5.5 14 14 to 10 2.5 2.5 to 6
, +1, +2 2 2 to 5.5 14 to 10 2.5 to 6
B1, B2 2 2 to 5.5 14 to 10 2.5 to 6
2 2 to 5.5 12 14 to 12 2.5 2.5 to 4
Model
CIMR-A
Terminal
For Asia <1> For U.S.A <2> For Europe and China <3>
Screw
Size
Tightening
Torque
Nm (lb.in.)
Recommended
Gauge
mm
2
Applicable
Gauge
mm
2
Recommended
Gauge
AWG, kcmil
Applicable
Gauge
AWG, kcmil
Recommended
Gauge
mm
2
Applicable
Gauge
mm
2
3.8 Main Circuit Wiring
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 71
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4A0005
4A0007
4A0009
R/L1, S/L2, T/L3 2 2 to 5.5 14 14 to 10 2.5 2.5 to 6
M4
1.2 to 1.5
(10.6 to 13.3)
U/T1, V/T2, W/T3 2 2 to 5.5 14 14 to 10 2.5 2.5 to 6
, +1, +2 2 2 to 5.5 14 to 10 2.5 to 6
B1, B2 2 2 to 5.5 14 to 10 2.5 to 6
3.5 2 to 5.5 10 14 to 10 2.5 2.5 to 6
4A0011
R/L1, S/L2, T/L3 2 2 to 5.5 12 14 to 10 2.5 2.5 to 6
M4
1.2 to 1.5
(10.6 to 13.3)
U/T1, V/T2, W/T3 2 2 to 5.5 14 14 to 10 2.5 2.5 to 6
, +1, +2 2 2 to 5.5 14 to 10 2.5 to 6
B1, B2 2 2 to 5.5 14 to 10 2.5 to 6
3.5 2 to 5.5 10 14 to 10 2.5 2.5 to 6
4A0018
R/L1, S/L2, T/L3 3.5 2 to 14 10 12 to 6 2.5 2.5 to 16
M4
1.2 to 1.5
(10.6 to 13.3)
U/T1, V/T2, W/T3 3.5 2 to 14 10 12 to 6 2.5 2.5 to 16
, +1, +2 3.5 2 to 14 12 to 6 4 to 16
B1, B2 2 2 to 5.5 12 to 10 4 to 6
3.5 2 to 5.5 10 14 to 10 2.5 2.5 to 6 M5
2 to 2.5
(17.7 to 22.1)
4A0023
R/L1, S/L2, T/L3 5.5 3.5 to 14 10 10 to 6 4 2.5 to 16
M4
1.2 to 1.5
(10.6 to 13.3)
U/T1, V/T2, W/T3 5.5 3.5 to 14 10 10 to 6 4 2.5 to 16
, +1, +2 5.5 3.5 to 14 12 to 6 4 to 16
B1, B2 2 2 to 5.5 12 to 10 4 to 6
3.5 3.5 to 5.5 10 12 to 10 4 4 to 6 M5
2 to 2.5
(17.7 to 22.1)
4A0031
R/L1, S/L2, T/L3 14 5.5 to 14 8 8 to 6 6 6 to 16
M5
2 to 2.5
(17.7 to 22.1)
U/T1, V/T2, W/T3 8 5.5 to 8 8 10 to 6 6 6 to 16
, +1, +2 14 5.5 to 14 10 to 6 6 to 16
B1, B2 3.5 2 to 8 10 to 8 6 to 10 M5
2 to 2.5
(17.7 to 22.1)
5.5 5.5 to 8 8 10 to 8 6 6 to 10 M6
4 to 6
(35.4 to 53.1)
4A0038
R/L1, S/L2, T/L3 14 14 6 8 to 6 10 10 to 16
M5
2 to 2.5
(17.7 to 22.1)
U/T1, V/T2, W/T3 14 8 to 14 8 8 to 6 6 6 to 16
, +1, +2 14 14 6 6 to 16
B1, B2 5.5 3.5 to 8 10 to 8 6 to 10 M5
2 to 2.5
(17.7 to 22.1)
8 5.5 to 14 6 10 to 6 10 6 to 16 M6
4 to 6
(35.4 to 53.1)
4A0044
R/L1, S/L2, T/L3 14 14 to 22 6 6 to 4 16 16 to 25
M6
4 to 6
(35.4 to 53.1)
U/T1, V/T2, W/T3 14 14 to 22 6 6 to 4 16 16 to 25
, +1, +2 14 14 to 22 6 to 4 16 to 25
B1, B2 8 5.5 to 8 10 to 8 6 to 10 M5
2 to 2.5
(17.7 to 22.1)
8 8 to 14 6 8 to 6 16 10 to 16 M6
4 to 6
(35.4 to 53.1)
4A0058
R/L1, S/L2, T/L3 14 14 4 6 to 4 16 10 to 16
M8
9 to 11
(79.7 to 97.4)
U/T1, V/T2, W/T3 14 14 4 6 to 4 16 10 to 16
, +1 22 14 to 38 6 to 1 16 to 35
B1, B2 14 8 to 14 8 to 4 10 to 16
8 8 to 14 6 8 to 6 16 10 to 16
4A0072
R/L1, S/L2, T/L3 22 14 to 22 3 4 to 3 16 16 to 25
M8
9 to 11
(79.7 to 97.4)
U/T1, V/T2, W/T3 22 14 to 22 3 4 to 3 25 16 to 25
, +1 30 22 to 38 4 to 1 25 to 35
B1, B2 14 14 to 22 6 to 3 16 to 25
14 14 to 22 6 6 16 16 to 25
4A0088
R/L1, S/L2, T/L3 30 22 to 50 2 3 to 1/0 25 16 to 50
M8
9 to 11
(79.7 to 97.4)
U/T1, V/T2, W/T3 30 22 to 50 2 3 to 1/0 25 25 to 50
, +1 38 30 to 50 3 to 1/0 25 to 50
+3 22 14 to 50 6 to 1/0 16 to 50
22 14 to 22 4 6 to 4 16 16 to 25
4A0103
R/L1, S/L2, T/L3 38 30 to 50 1/0 2 to 1/0 35 25 to 50
M8
9 to 11
(79.7 to 97.4)
U/T1, V/T2, W/T3 38 30 to 50 1 2 to 1/0 35 25 to 50
, +1 60 30 to 50 3 to 1/0 25 to 50
+3 30 22 to 50 4 to 1/0 25 to 50
22 14 to 22 4 6 to 4 16 16 to 25
Model
CIMR-A
Terminal
For Asia <1> For U.S.A <2> For Europe and China <3>
Screw
Size
Tightening
Torque
Nm (lb.in.)
Recommended
Gauge
mm
2
Applicable
Gauge
mm
2
Recommended
Gauge
AWG, kcmil
Applicable
Gauge
AWG, kcmil
Recommended
Gauge
mm
2
Applicable
Gauge
mm
2
3.8 Main Circuit Wiring
72 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
4A0139
R/L1, S/L2, T/L3 60 38 to 100 3/0 1/0 to 4/0 50 35 to 95
M10
18 to 23
(159 to 204)
U/T1, V/T2, W/T3 60 50 to 100 2/0 1/0 to 4/0 50 35 to 95
, +1 100 60 to 100 1/0 to 4/0 50 to 95
+3 50 30 to 100 3 to 4/0 25 to 95
22 22 4 4 25 25
4A0165
R/L1, S/L2, T/L3 80 60 to 100 4/0 3/0 to 4/0 70 50 to 95
M10
18 to 23
(159 to 204)
U/T1, V/T2, W/T3 80 80 to 100 4/0 3/0 to 4/0 70 70 to 95
, +1 50 2P 50 to 100 1 to 4/0 35 to 95
+3 60 50 to 100 1/0 to 4/0 50 to 95
22 22 to 30 4 4 to 2 35 25 to 35
4A0208
R/L1, S/L2, T/L3 150 30 to 150 300 2 to 300 95 35 to 95
M10
18 to 23
(159 to 204)
U/T1, V/T2, W/T3 150 30 to 150 300 2 to 300 95 35 to 95
, +1 80 2P 38 to 150 1 to 250 35 to 150
+3 80 22 to 80 3 to 3/0 25 to 70
22 22 to 150 4 4 to 300 50 50 to 150
4A0250
R/L1, S/L2, T/L3 150 38 to 325 400 1 to 600 120 95 to 300
M10
18 to 23
(159 to 204)
U/T1, V/T2, W/T3 150 38 to 325 400 1/0 to 600 120 95 to 300
, +1 200 80 to 325 3/0 to 600 70 to 300
+3 125 38 to 325 1 to 325 35 to 300
22 22 to 200 2 2 to 350 70 70 to 240
4A0296
R/L1, S/L2, T/L3 200 80 to 325 500 2/0 to 600 185 95 to 300
M12
32 to 40
(283 to 354)
U/T1, V/T2, W/T3 200 80 to 325 500 2/0 to 600 185 95 to 300
, +1 325 80 to 325 3/0 to 600 70 to 300
+3 150 38 to 325 1 to 325 35 to 300 M10
18 to 23
(159 to 204)
30 30 to 200 2 2 to 350 95 95 to 240 M12
32 to 40
(283 to 354)
4A0362
R/L1, S/L2, T/L3 250 80 to 325 4/0 2P 3/0 to 600 240 95 to 300
M12
32 to 40
(283 to 354)
U/T1, V/T2, W/T3 250 80 to 325 4/0 2P 3/0 to 600 240 95 to 300
, +1 325 100 to 325 4/0 to 600 95 to 300
+3 200 80 to 325 3/0 to 600 70 to 300 M10
18 to 23
(159 to 204)
30 30 to 200 1 1 to 350 120 120 to 240 M12
32 to 40
(283 to 354)
4A0414
R/L1, S/L2, T/L3 100 2P 80 to 150 300 2P 4/0 to 300 95 2P 95 to 150
M12
32 to 40
(283 to 354)
U/T1, V/T2, W/T3 125 2P 80 to 150 300 2P 4/0 to 300 95 2P 95 to 150
, +1 150 2P 80 to 150 3/0 to 300 70 to 150
+3 80 2P 80 to 150 3/0 to 300 70 to 150
38 38 to 100 1 1 to 3/0 95 35 to 95
4A0515
R/L1, S/L2, T/L3 125 2P 80 to 150 3/0 4P 3/0 to 300 120 2P 95 to 150
M12
32 to 40
(283 to 354)
U/T1, V/T2, W/T3 150 2P 80 to 150 4/0 4P 3/0 to 300 150 2P 95 to 150
, +1 60 4P 60 to 150 1/0 to 300 70 to 150
+3 100 2P 60 to 150 1/0 to 300 70 to 150
60 50 to 150 1/0 1/0 to 300 150 50 to 150
4A0675
R/L1, S/L2, T/L3 80 4P 80 to 150 300 4P 4/0 to 300 95 4P 95 to 150
M12
32 to 40
(283 to 354)
U/T1, V/T2, W/T3 80 4P 80 to 150 300 4P 4/0 to 300 95 4P 95 to 150
, +1 125 4P 60 to 150 1/0 to 300 70 to 150
+3 60 4P 60 to 150 1/0 to 300 70 to 150
60 70 to 150 2/0 2/0 to 300 95 2P 60 to 150
<1> Gauges listed here are for use in Japan.
<2> Gauges listed here are for use in the United States.
<3> Gauges listed here are for use in Europe and China.
Model
CIMR-A
Terminal
For Asia <1> For U.S.A <2> For Europe and China <3>
Screw
Size
Tightening
Torque
Nm (lb.in.)
Recommended
Gauge
mm
2
Applicable
Gauge
mm
2
Recommended
Gauge
AWG, kcmil
Applicable
Gauge
AWG, kcmil
Recommended
Gauge
mm
2
Applicable
Gauge
mm
2
3.8 Main Circuit Wiring
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 73
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Main Circuit Terminal and Motor Wiring
This section outlines the various steps, precautions, and checkpoints for wiring the main circuit terminals and motor
terminals.
NOTICE: When connecting the motor to the drive output terminals U/T1, V/T2, and W/T3, the phase order for the drive and motor
should match. Failure to comply with proper wiring practices may cause the motor to run in reverse if the phase order is backward.
NOTICE: Do not connect phase-advancing capacitors or LC/RC noise filters to the output circuits. Failure to comply could result in
damage to the drive, phase-advancing capacitors, LC/RC noise filters or ground fault circuit interrupters.
NOTICE: Do not connect the AC power line to the output motor terminals of the drive. Failure to comply could result in death or serious
injury by fire as a result of drive damage from line voltage application to output terminals.
Cable Length Between Drive and Motor
Voltage drop along the motor cable may cause reduced motor torque when the wiring between the drive and the motor is
too long, especially at low frequency output. This can also be a problem when motors are connected in parallel with a
fairly long motor cable. Drive output current will increase as the leakage current from the cable increases. An increase in
leakage current may trigger an overcurrent situation and weaken the accuracy of the current detection.
Adjust the drive carrier frequency according to Table 3.4. If the motor wiring distance exceeds 100 m because of the
system configuration, reduce the ground currents. Refer to C6-02: Carrier Frequency Selection on page 179.
Table 3.4 Cable Length Between Drive and Motor
Note: When setting carrier frequency in a drive running multiple motors, calculate the cable length as the total distance of wiring to all
motors that are connected.
Ground Wiring
Follow the precautions to wire the ground for one drive or a series of drives.
WARNING! Electrical Shock Hazard. Always use a ground wire that complies with technical standards on electrical equipment and
minimize the length of the ground wire. Improper equipment grounding may cause dangerous electrical potentials on equipment
chassis, which could result in death or serious injury.
WARNING! Electrical Shock Hazard. Be sure to ground the drive ground terminal (200 V class: Ground to 100 or less, 400 V class:
Ground to 10 or less). Improper equipment grounding could result in death or serious injury by contacting ungrounded electrical
equipment.
NOTICE: Do not share the ground wire with other devices such as welding machines or large-current electrical equipment. Improper
equipment grounding could result in drive or equipment malfunction due to electrical interference.
NOTICE: When using more than one drive, ground multiple drives according to instructions. Improper equipment grounding could
result in abnormal operation of drive or equipment.
Refer to Figure 3.21 when using multiple drives. Do not loop the ground wire.
Figure 3.25
Figure 3.21 Multiple Drive Wiring
Cable Length 50 m or less 100 m or less Greater than 100 m
Carrier Frequency 15 kHz or less 5 kHz or less 2 kHz or less
OK OK Not Good
3.8 Main Circuit Wiring
74 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Wiring the Main Circuit Terminal
WARNING! Electrical Shock Hazard. Shut off the power supply to the drive before wiring the main circuit terminals. Failure to comply
may result in death or serious injury.
Wire the main circuit terminals after the terminal board has been properly grounded.
Models CIMR-A2A0004 through 0081 and 4A0002 through 0044 have a cover placed over the DC bus and braking
circuit terminals prior to shipment to help prevent miswiring. Cut away covers as needed for terminals using wire cutters.
Figure 3.26
Figure 3.22 Protecting Cover to Prevent Miswiring (CIMR-A2A0056)
Main Circuit Connection Diagram
Refer to Main Circuit Connection Diagram on page 58 when wiring terminals on the drives main power circuit.
WARNING! Fire Hazard. The braking resistor connection terminals are B1 and B2. Do not connect braking resistors to any other
terminals. Improper wiring connections could cause the braking resistor to overheat and cause death or serious injury by fire. Failure to
comply may result in damage to the braking circuit or drive.
A Protecting Cover
A
3.9 Control Circuit Wiring
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 75
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3.9 Control Circuit Wiring
Control Circuit Connection Diagram
Figure 3.27
Figure 3.23 Control Circuit Connection Diagram
<1> Supplying power to the control circuit separately from the main circuit requires 24 V power supply (option).
<2> This figure shows an example of a sequence input to S1 through S8 using a non-powered relay or an NPN transistor. Use jumper S3 to
select sink or source and internal or external power supply.
<3> The maximum output current capacity for the +V and -V terminals on the control circuit is 20 mA. Never short terminals +V, -V, and
AC, as this can cause erroneous operation or damage the drive.
<4> Set DIP switch S1 to select between a voltage or current input signal to terminal A2. The default setting is for current input.
<5> Enable the termination resistor in the last drive in a MEMOBUS network by setting DIP switch S2 to the ON position.
<6> The sink/source setting for the Safe Disable input is the same as with the sequence input.
<7> Disconnect the wire jumper between H1 - HC and H2 - HC when utilizing the Safe Disable input.
<8> Monitor outputs work with devices such as analog frequency meters, ammeters, voltmeters, and wattmeters. They are not intended for
use as a feedback-type of signal.
+
+
+
+
+
+
+
+
S1
S2
S3
S4
S5
S6
S7
MP
DM
DM
RP
A1
A2
A3
0 V
AC
R
R
S
S
IG
H1
H2
HC
Drive
2 k
S8
SC
FM
AM
0 V
0 V
AC
FM
AM
AC
E (G)
S1
S2
<6>
<3>
<5>
<7>
<8>
<8>
<4>
<3>
<2>
<1>
V I
+24 V
+V
MA
M1
M2
P1
P2
MB
MC
PC
CN5-C
CN5-B
CN5-A
Forward Run / Stop
Reverse Run / Stop
External fault
Fault reset
Multi-speed step 1
Multi-speed step 2
External Baseblock
Jog speed
Multi-function
digtial inputs
(default setting)
Sink / Source mode
selection jumper S3
(default: Sink)
Option board
connectors
Pulse Train Input (max 32 kHz)
Shield ground terminal
Multi-function
analog/ pulse
train inputs
Power supply +10.5 Vdc, max. 20 mA
Analog Input 1
(Frequency Reference Bias)
0 to +10 Vdc (20 k)
Analog Input 2
(Frequency Reference Bias)
0 to +10 Vdc (20 k)
4 to 20 mA / 0 to 20 mA (250 )
Analog Input 3
(Aux. frequency reference)
0 to +10 Vdc (20 k)
V Power supply, -10.5 Vdc, max. 20 mA
Safety
switch
MEMOBUS/Modbus
comm. RS485/422
max. 115.2 kBps
Safe Disable inputs
Wire
jumper
Open
Safety relay /
controller
Termination resistor
(120 , 1/2 W)
DIP
Switch S2
DIP Switch S1
Fault relay output
250 Vac, max. 1 A
30 Vdc, max 1 A
(min. 5 Vdc, 10 mA)
Multi-function relay output
(During Run)
250 Vac, max. 1 A
30 Vdc, max 1 A
(min. 5 Vdc, 10 mA)
Multi-function photo coupler output 1
(Zero Speed)
48 Vdc, max 50 mA
Multi-function photo coupler output 2
(Speed Agree 1)
48 Vdc, max 50 mA
Multi-function pulse train output
(Output frequency)
0 to 32 kHz (2.2 k)
Multi-function analog output 1
(Output frequency)
-10 to +10 Vdc (2mA)
Multi-function analog output 2
(Output current)
-10 to +10 Vdc (2mA)
EDM (Safety Electronic Device Monitor)
Control Circuit
shielded line twisted-pair shielded line
main circuit terminal control circuit terminal
YEC_TMonly
3.9 Control Circuit Wiring
76 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Control Circuit Terminal Block Functions
Drive parameters determine which functions apply to the multi-function digital inputs (S1 to S8), multi-function digital
outputs (M1, M2), multi-function photocoupler outputs (P1, P2), multi-function analog inputs (A1 to A3), and multi-
function analog monitor output (FM, AM). The default setting is listed next to each terminal in Figure 3.23.
WARNING! Sudden Movement Hazard. Always check the operation and wiring of control circuits after being wired. Operating a drive
with untested control circuits could result in death or serious injury.
WARNING! Confirm the drive I/O signals and external sequence before starting test run. Setting parameter A1-06 may change the I/O
terminal function automatically from the factory setting. Refer to Application Selection on page 108. Failure to comply may result in
death or serious injury.
Input Terminals
Table 3.5 lists the input terminals on the drive. Text in parenthesis indicates the default setting for each multi-function
input.
Table 3.5 Control Circuit Input Terminals
Type
<1> Setting jumper S3 for an external power supply makes the wire link between terminals H1, H2, and H2 ineffective. Remove the wire link and
connect an external power supply that can supply terminals H1, H2, and HC continuously.
No. Terminal Name (Function) Function (Signal Level) Default Setting Page
Multi-Function
Digital Inputs
S1 Multi-function input 1 (Closed: Forward run, Open: Stop)
Photocoupler
24 Vdc, 8 mA
Set the S3 jumper to select between sinking, sourcing mode, and the power supply.
Refer to Sinking/Sourcing Mode Switch for Digital Inputs on page 81.
431
S2 Multi-function input 2 (Closed: Reverse run, Open: Stop)
S3 Multi-function input 3 (External fault, N.O.)
S4 Multi-function input 4 (Fault reset)
S5 Multi-function input 5 (Multi-step speed reference 1)
S6 Multi-function input 6 (Multi-step speed reference 2)
S7 Multi-function input 7 (Jog reference)
S8 Multi-function input 8 (External baseblock)
SC Multi-function input common Multi-function input common
Safe Disable
Inputs
H1 Safe Disable input 1 24 Vdc, 8 mA
One or both open: Output disabled
Both closed: Normal operation
Internal impedance: 3.3 k
Off time of at least 1 ms
Disconnect the wire jumpers shorting terminals H1, H2, and HC to use the Safe
Disable inputs. Set the S3 jumper to select between sinking, sourcing mode, and the
power supply as explained for multi-function input terminals in Sinking/Sourcing
Mode Switch for Digital Inputs on page 81. <1>
530 H2 Safe Disable input 2
HC Safe Disable function common Safe disable function common
Analog Inputs /
Pulse Train Input
RP Multi-function pulse train input (Frequency reference)
Input frequency range: 0 to 32 kHz
Signal Duty Cycle: 30 to 70%
High level: 3.5 to 13.2 Vdc, low level: 0.0 to 0.8 Vdc
Input impedance: 3 k
138
244
+V Power supply for analog inputs 10.5 Vdc (max allowable current 20 mA) 137
-V Power supply for analog inputs -10.5 Vdc (max allowable current 20 mA)
A1 Multi-function analog input 1 (Frequency reference bias) -10 to 10 Vdc, 0 to 10 Vdc (input impedance: 20 k)
137
237
A2 Multi-function analog input 2 (Frequency reference bias)
-10 to 10 Vdc, 0 to 10 Vdc (input impedance: 20 k)
4 to 20 mA, 0 to 20 mA (input impedance: 250 )
Voltage or current input must be selected by DIP switch S1 and H3-09
137
138
239
A3
Multi-function analog input 3 (auxiliary frequency
reference)
-10 to 10 Vdc, 0 to 10 Vdc (input impedance: 20 k) 137
AC Frequency reference common 0 V 137
E (G) Ground for shielded lines and option cards
3.9 Control Circuit Wiring
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 77
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Output Terminals
Table 3.6 lists the output terminals on the drive. Text in parenthesis indicates the default setting for each multi-function
output.
Table 3.6 Control Circuit Output Terminals
Figure 3.28
Figure 3.24 Connecting a Suppression Diode
Serial Communication Terminals
Table 3.7 Control Circuit Terminals: Serial Communications
Type
<1> Refrain from assigning functions to terminals M1 and M2 that involve frequent switching, as doing so may shorten relay performance life.
Switching life is estimated at 200,000 times (assumes 1 A, resistive load).
<2> Connect a flywheel diode as shown in the Figure 3.24 when driving a reactive load such as a relay coil. Make sure the diode rating is greater
than the circuit voltage.
No. Terminal Name (Function) Function (Signal Level) Default Setting Page
Fault Relay
MA N.O.
30 Vdc, 10 mA to 1 A; 250 Vac, 10 mA to 1 A
Minimum load: 5 Vdc, 10 mA
227 MB N.C. output
MC Fault output common
Multi-Function
Digital Output <1>
M1
Multi-function digital output (During run)
30 Vdc, 10 mA to 1 A; 250 Vac, 10 mA to 1 A
Minimum load: 5 Vdc, 10 mA
227
M2
Multi-Function
Photocoupler
Output
P1 Photocoupler output 1 (Zero speed)
48 Vdc, 2 to 50 mA <2> 227 P2 Photocoupler output 2 (Speed agree 1)
PC Photocoupler output common
Monitor Output
MP Pulse train output (Output frequency) 32 kHz (max) 244
FM Analog monitor output 1 (Output frequency)
-10 to +10 Vdc or 0 to +10 Vdc 242
AM Analog monitor output 2 (Output current)
AC Monitor common 0 V
Safety Monitor
Output
DM+ Safety monitor output
Outputs status of Safe Disable function. Closed when both Safe Disable
channels are closed. Up to +48 Vdc 50 mA
520
DM- Safety monitor output common
A External power, 48 V max. C Coil
B Suppression diode D 50 mA or less
Type
<1> Enable the termination resistor in the last drive in a MEMOBUS network by setting DIP switch S2 to the ON position. For more information on
the termination resistor, see Control I/O Connections on page 81.
No. Signal Name Function (Signal Level)
MEMOBUS/Modbus
Communication
<1>
R+ Communications input (+)
MEMOBUS/Modbus communication: Use a RS-485 or
RS-422 cable to connect the drive.
RS-485/422
MEMOBUS/Modbus
communication protocol
115.2 kbps (max.)
R- Communications input (-)
S+ Communications output (+)
S- Communications output (-)
IG Shield ground 0 V
A
B
C
D
YEC_common
3.9 Control Circuit Wiring
78 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Terminal Configuration
Control circuit terminals should are arranged as shown in Figure 3.25.
Figure 3.29
Figure 3.25 Control Circuit Terminal Arrangement
Figure 3.30
Terminal board arrangement appears below. The exact location of the labeling may vary by model.
Figure 3.31
Figure 3.26 Control Circuit Terminal Arrangement
A Terminal Block (TB 6) D Terminal Block (TB 1)
B Terminal Block (TB 5) E Terminal Block (TB 2)
C Terminal Block (TB 4)
HC
H1
H2
DM+
DM
IG
R+
R
S+
S
RP
MP
E(G) FM AC AM P1 P2 PC SC MA MB MC
M1 M2 E(G)
S1 S2 S3 S4 S5 S6 S7 S8
SC A1 A2 A3 +V AC -V
A B C
E
D
YEC_common
Inside of the Terminal Cover
(CIMR-A2A0004 to 2A0081, 4A0002 to 4A0044)
Under the Terminal Board
(CIMR-A2A0110 to 2A0415, 4A0072 to 4A0675)
YEC_common
3.9 Control Circuit Wiring
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 79
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Wire Size and Torque Specifications
Select appropriate wire type and gauges from Table 3.8. For simpler and more reliable wiring, use crimp ferrules on the
wire ends. Refer to Table 3.9 for ferrule terminal types and sizes.
Table 3.8 Wire Gauges and Torque Specifications
Ferrule-Type Wire Terminals
Prepare wire ends with insulated sleeves before connecting to the drive. See Table 3.9 for dimensions. Yaskawa
recommends CRIMPFOX ZA-3, a crimping tool manufactured by PHOENIX CONTACT.
Figure 3.32
Figure 3.27 Ferrule Dimensions
Table 3.9 Ferrule Terminal Types and Sizes
Wiring the Control Circuit Terminal
This section describes the proper procedures and preparations for wiring the control terminals.
WARNING! Electrical Shock Hazard. Do not remove covers or touch the circuit boards while the power is on. Failure to comply could
result in death or serious injury.
NOTICE: Separate control circuit wiring from main circuit wiring (terminals R/L1, S/L2, T/L3, B1, B2, U/T1, V/T2, W/T3, -, +1, +2) and
other high-power lines. Improper wiring practices could result in drive malfunction due to electrical interference.
NOTICE: Separate wiring for digital output terminals MA, MB and MC from wiring to other control circuit lines. Improper wiring
practices could result in drive or equipment malfunction or nuisance trips.
NOTICE: Use a class 2 power supply (UL standard) when connecting to the control terminals. Improper application of peripheral
devices could result in drive performance degradation due to improper power supply.
NOTICE: Insulate shields with tape or shrink tubing to prevent contact with other signal lines and equipment. Improper wiring practices
could result in drive or equipment malfunction due to short circuit.
NOTICE: Connect the shield of shielded cable to the appropriate ground terminal. Improper equipment grounding could result in drive
or equipment malfunction or nuisance trips.
Wire the control circuit only after terminals have been properly grounded and main circuit wiring is complete. Refer to
Figure 3.28 for details. Prepare the ends of the control circuit wiring as shown in Figure 3.30. Refer to Wire Size and
Torque Specifications on page 79.
Terminal
Block
Terminal
Screw
Size
Tightening
Torque
Nm
(lb.in.)
Bare Wire Terminal Ferrule-Type Terminal
Applicable wire size
mm
2
(AWG)
Recomm. mm
2
(AWG)
Applicable wire size
mm
2
(AWG)
Recomm. mm
2
(AWG)
Wire Type
TB1, TB2
FM, AC, AM, P1, P2,
PC, SC, A1, A2, A3,
+V, -V, S1-S8, MA,
MB, MC, M1, M2
M3.5
0.8 to 1.0
(7.1 to 8.6)
0.5 to 2
(20 to 14)
0.75
(18)
Shielded line, etc. E (G) M3.5
0.8 to 1.0
(7.1 to 8.6)
0.5 to 2
(20 to 14)
1.25
(12)
TB4, TB5, TB6
HC, H1, H2, DM+,
DM-, IG, R+, R-, S+, S-,
RP, MP
M2
0.22 to 0.25
(1.9 to 2.2)
Standard 0.25 to 1.0
(24 to 17)
Single 0.25 to 1.5
(24 to 16)
0.75
(18)
0.25 to 0.5
(24 to 20)
0.5
(20)
Size mm
2
(AWG) Type L (mm) d1 (mm) d2 (mm) Manufacturer
0.25 (24) AI 0.25-6YE 10.5 0.8 2
PHOENIX CONTACT 0.34 (22) AI 0.34-6TQ 10.5 0.8 2
0.5 (20) AI 0.5-6WH 14 1.1 2.5
d1
d2
6
m
m
L
YEC_common
3.9 Control Circuit Wiring
80 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
NOTICE: Do not tighten screws beyond the specified tightening torque. Failure to comply may result in erroneous operation, damage
the terminal block, or cause a fire.
NOTICE: Use shielded twisted-pair cables as indicated to prevent operating faults. Improper wiring practices could result in drive or
equipment malfunction due to electrical interference.
Connect control wires as shown in the following figure:
Figure 3.33
Figure 3.28 Terminal Board Wiring Guide
Figure 3.34
Use the space above TB2 to wire TB4 through TB6 as illustrated in Figure 3.29.
Figure 3.35
Figure 3.29 Terminal Board Wiring
When setting the frequency by analog reference from an external potentiometer, use shielded twisted-pair wires (treating
wire ends as shown in Figure 3.30 and connect the shield to the ground terminal of the drive.
Figure 3.36
Figure 3.30 Preparing the Ends of Shielded Cables
NOTICE: The signal lines between the drive and the operator station or peripheral equipment should not exceed 50 meters when
using an analog signal from a remote source to supply the frequency reference. Failure to comply could result in poor system
performance.
A Loosen screw to insert wire.
Wire in the following order:
TB4, TB5, TB6
C Avoid fraying wire strands when stripping
insulation from wire. Strip length 5.5 mm.
B Single wire or stranded wire D Blade depth of 0.4 mm or less
Blade width of 2.5 mm or less
A Drive side D Control device side
B Connect shield to ground terminal of
drive.
E Shield sheath (insulate with tape)
C Insulation F Shield
A
B
TB6 TB5 TB4
C
D
Preparing wire
terminal ends
YEC_common
YEC_common
A
F C
D
E
B
3.10 Control I/O Connections
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 81
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3.10 Control I/O Connections
Sinking/Sourcing Mode Switch for Digital Inputs
Set jumper S3 to select between sinking/sourcing mode, and internal or external power supply. Signal levels are the same
for terminals S1 through S8 and the safety inputs. The drive is preset to sinking mode.
Figure 3.37
Figure 3.31 Jumper S3
Sink Mode (0 V Common), Internal Power Supply
When controlling the digital inputs by NPN transistors (0 V common/sinking mode) or contacts using the drive internal
power supply, position the jumper S3 for sinking as shown in Figure 3.32.
Figure 3.38
Figure 3.32 Sinking Mode (0 V Common), Internal Power Supply
Source Mode (+24 V Common), Internal Power Supply
When controlling digital inputs by PNP transistors (+24 V common/sourcing mode) or contact inputs using the drive
internal power supply, set jumper S3 for sourcing as shown in Figure 3.33.
Figure 3.39
Figure 3.33 Source Mode (+24 V Common), Internal Power Supply
YEC_common
IP24 V
(24 V) SC
S8
S7
YEC_common
IP24 V
(24 V) SC
S8
S7
YEC_common
3.10 Control I/O Connections
82 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Sink/Source Mode, External Power Supply
When using an external voltage source for controlling the digital inputs, set jumper S3 as shown in Figure 3.34. Here,
the inputs can be used for either sinking or sourcing.
Figure 3.40
Figure 3.34 Sink/Source Mode, External Power Supply
Power Supply Inputs Instead of the Safe Disable Feature
Refer to Figure 3.35 to wire the input terminals for an external power supply instead of the Safe Disable feature.
Figure 3.41
Figure 3.35 Power Supply Inputs Instead of the Safe Disable Feature
Sink Mode (0 V Common) External Power Supply
IP24 V
(24 V)
+24 V
SC
S8
S7
IP24 V
(24 V) SC
S8
S7
+24 V
Source Mode (+24 V Common) External Power Supply
YEC_common
Sink Mode Source Mode
IP24 V
(24 V) SC
H1
H2
HC
S8
+24 V
IP24 V
(24 V) SC
H1
H2
HC
S8
+24 V
YEC_common
3.10 Control I/O Connections
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 83
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Using the Photocoupler and Contact Outputs
The example below illustrates the use of multi-function digital outputs and the fault relay. Refer to Figure 3.1 for
standard connection diagram.
Figure 3.36 Photocoupler and Contact Outputs
Using the Pulse Train Output
The pulse train output terminal MP can either supply power but can also be used with external power supply. Peripheral
devices should be connected in accordance with the specifications listed below. Failure to do so can cause unexpected
drive operation, and can damage the drive or connected circuits.
Using Power from the Pulse Output Terminal (Source Mode)
The high voltage level of the pulse output terminal depends on the load impedance.
Note: The load resistance needed in order to get a certain high level voltage V
MP
can be calculated by:
Figure 3.42
Figure 3.37 Pulse Output Connection Using Internal Voltage Supply
<1> Minimum load: 5 Vdc, 10 mA
Load Impedance R
L
(k) Output Voltage V
MP
(V) (insulated)
1.5 k 5 V
4 k 8 V
10 k 10 V
<1>
P1
P2
PC
Relay
SA
SA
Max
250 Vac
Relay
Relay
Relay
Max 48 Vdc
Max 48 Vdc
Controller
Fault Contact Output
250 Vac 10 mA to 1 A
30 Vdc 10 mA to 1 A
<1>
Multi-Function Digital Output
250 Vac 10 mA to 1 A
30 Vdc 10 mA to 1 A
Fault
During
Run
Multi-Function Photocoupler Output
48 Vdc 0 to 50 mA
Zero speed
Speed Agree 1
Drive
MA
M1
M2
MB
MC
YEC_TMonly
R
L
= V
MP
2 / (12 - V
MP
)
MP
AC
V
MP R
L
Load Impedance
3.10 Control I/O Connections
84 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Using External Power Supply (Sink Mode)
The high voltage level of the pulse output signal depends on the external voltage applied. The voltage must be between
12 and 15 Vdc. The load resistance must be adjusted so that the current is lower than 16 mA.
Figure 3.43
Figure 3.38 Pulse Output Connection Using External Voltage Supply
External Power Supply (V) Load Impedance (k)
12 to 15 Vdc 10% 1.0 k or higher
MP
AC
Load Impedance
Sink Current
External Power Supply
3.11 Terminal A2 Analog Input Signal Selection
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 85
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3.11 Terminal A2 Analog Input Signal Selection
Terminal A2 Input Signal Selection
Terminal A2 can be used to input either a voltage or a current signal.
When using input A2 as a voltage input, set DIP switch S1 to V (left position) and set parameter H3-09 to 0 (0 to 10
Vdc) or to 1 (-10 to 10 Vdc).
To use current input at terminal A2, set the DIP switch S1 to I (default setting) and H3-09 = 2 or 3 (4 to 20 mA or 0 to
20 mA).
To set the DIP switch on the terminal board, use an appropriate sized tool with a tip of approximately 0.8 mm in width.
Figure 3.44
Figure 3.39 DIP Switch S1
Note: If terminals A1 and A2 are both set for frequency bias (H3-02 = 0 and H3-10 = 0), both input values will be combined to create
the frequency reference.
Table 3.10 DIP Switch S1 Settings
Table 3.11 Parameter H3-09 Details
Setting Description
V (left position) Voltage input (-10 to +10 V)
I (right position) (default) Current input (4 to 20 mA or 0 to 20 mA): default setting
No. Parameter Name Description
Setting
Range
Default
Setting
H3-09 Terminal A2 signal level selection
Selects the signal level for terminal A2.
0: 0 to 10 Vdc
1: -10 to 10 Vdc
2: 4 to 20 mA
3: 0 to 20 mA
0 to 3 2
V I
Dip Switch S1
YEC_common
86 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
3.12 Connect to a PC
3.12 Connect to a PC
This drive is equipped with a USB port (type-B).
The drive can connect to the USB port of a PC using a USB 2.0, AB type cable (sold separately). DriveWizard Plus can
then be used to monitor drive performance and manage parameter settings. Contact Yaskawa for more information on
DriveWizard Plus.
Figure 3.45
Figure 3.40 Connecting to a PC (USB)
PC
(Type-B) (Type-A)
USB Cable
(Type-AB)
YEC_common
3.13 MEMOBUS/Modbus Termination
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 87
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3.13 MEMOBUS/Modbus Termination
This drive is equipped with a built in termination resistor for the RS-422/485 communication port. DIP switch S2 enables
or disabled the termination resistor as shown in Figure 3.41. The OFF position is the default. The termination resistor
should be placed to the ON position when the drive is the last in a series of slave drives.
Table 3.12 MEMOBUS/Modbus Switch Settings
Figure 3.46
Figure 3.41 DIP Switch S2
Note: Refer to the MEMOBUS/Modbus Communications on page 487 for details on MEMOBUS/Modbus.
S2 Position Description
ON Internal termination resistor ON
OFF Internal termination resistor OFF (default setting)
DIP Switch S2
(OFF: default)
OFF
ON
ON
YEC_TMonly
88 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
3.14 External Interlock
3.14 External Interlock
Systems that may be affected if the drive faults out should be interlocked with the drives fault output and ready signal.
Drive Ready
When the Drive ready signal has been set to one of the multi-function contact outputs, that output will close whenever
the drive is ready to accept a Run command or is already running. Under the following conditions the Drive ready signal
will switch off and remain off, even if a Run command is entered:
when the power supply is shut off.
during a fault.
when there is problem with the control power supply.
when a parameter setting error makes the drive unable to run even if a Run command has been entered.
when a fault such as overvoltage or undervoltage is triggered as soon as the Run command is entered.
when the drive is in the Programming mode and will not accept a Run command even when entered.
Interlock Circuit Example
Two drives running a single application might interlock with the controller using the Drive ready and Fault output signals
as shown below. The figure illustrates how the application would not be able to run if either drive experiences a fault or
is unable to supply a Drive ready signal.
Figure 3.47
Figure 3.42 Interlock Circuit Example
Terminal Output Signal Parameter Setting
MA, MB, MC Fault
M1-M2 Drive Ready H2-01 = 06
Operation
Circuit
Drive Ready
Drive Ready
Stop
Ready1 Ready2 Fault1
Run
Fault2
common_
TMonly
Run
S1
SC
MB
MA
M2
M1
MC
Fault 1
Ready 1
SA
SA
Max
250 Vac
Relay 1
Relay 2
Relay 1
Relay 2
Controller
Fault
Output
Drive Ready
Drive 1
Run
S1
SC
MB
MA
M2
M1
MC
Fault 2
Ready 2
SA
SA
Max
250 Vac
Relay 1
Relay 2
Relay 1
Relay 2
Controller
Fault
Output
Drive Ready
Drive 2
common_
TMonly
3.15 Wiring Checklist
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 89
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3.15 Wiring Checklist
No. Item Page
Drive, peripherals, option cards
1 Check drive model number to ensure receipt of correct model. 33
2 Make sure you have the correct braking resistors, DC reactors, noise filters, and other peripheral devices. 379
3 Check the option card model number. 379
Installation area and physical setup
4 Ensure that the area surrounding the drive complies with specifications. 42
Power supply voltage, output voltage
5 The voltage from the power supply should be within the input voltage specification range of the drive. 196
6 The voltage rating for the motor should match the drive output specifications.
31
452
7 Verify that the drive is properly sized to run the motor.
31
452
Main circuit wiring
8 Confirm proper branch circuit protection as specified by national and local codes. 56
9 Properly wire the power supply to drive terminals R/L1, S/L2, and T/L3. 58
10
Properly wire the drive and motor together.
The motor lines and drive output terminals R/T1, V/T2, and W/T3 should match in order to produce the desired phase order. If the phase order
is incorrect, the drive will rotate in the opposite direction.
73
11 Use 600 Vac vinyl-sheathed wire for the power supply and motor lines. 68
12
Use the correct wire gauges for the main circuit. Refer to Wire Gauges and Tightening Torque on page 68. 68
When using comparatively long motor cable, calculate the amount of voltage drop. 68
If the cable between the drive and motor exceeds 50 m, adjust the carrier frequency set to C6-02 accordingly. 73
13 Properly ground the drive. Review page 73. 73
14
Tightly fasten all terminal screws (control circuit terminals, grounding terminals).
Refer to Wire Gauges and Tightening Torque on page 68.
68
15
Set up overload protection circuits when running multiple motors from a single drive.
Note: Close MC1 through MCn before operating the drive (MC1 through MCn cannot be switched off during run).
16
If using a dynamic braking option, install a magnetic contactor. Properly install the resistor, and ensure that overload protection shuts off the
power supply.
385
17 Verify phase advancing capacitors, input noise filters, or ground fault circuit interrupters are NOT installed on the output side of the drive.
Control circuit wiring
18 Use twisted-pair line for all drive control circuit wiring. 75
19 Ground the shields of shielded wiring to the GND terminal. 79
20
If using a 3-wire sequence, properly set parameters for multi-function contact input terminals S1 through S8, and properly wire control
circuits.
23
Properly fasten the control circuit terminal screws in the drive.
Refer to Wire Gauges and Tightening Torque on page 68.
68
24 Pick up all wire clippings.
25 Ensure that no frayed wires on the terminal block are touching other terminals or connections.
26 Properly separate control circuit wiring and main circuit wiring.
27 Analog signal line wiring should not exceed 50 m.
28 Safe Disable input wiring should not exceed 30 m.
3 x wire resistance (/km) x cable length (m) x motor rated current (A) x 10
-3
Motor rated voltage (V) x 0.02
M1
OL1
OL2
OLn
MC1
MC2
MCn
M2
Mn
Drive
MC1 - MCn
OL 1 - OLn
... magnetic contactor
... thermal relay
Power supply
3.15 Wiring Checklist
90 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
4
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 91
Start-Up Programming & Operation
This chapter explains the functions of the digital operator and how to program the drive for
initial operation.
4.1 SECTION SAFETY. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
4.2 USING THE DIGITAL OPERATOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
4.3 THE DRIVE AND PROGRAMMING MODES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
4.4 START-UP FLOWCHARTS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
4.5 POWERING UP THE DRIVE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
4.6 APPLICATION SELECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
4.7 AUTO-TUNING. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
4.8 NO-LOAD OPERATION TEST RUN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
4.9 TEST RUN WITH LOAD CONNECTED. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
4.10 VERIFYING PARAMETER SETTINGS AND BACKING UP CHANGES . . . . . . . 127
4.11 TEST RUN CHECKLIST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
92 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
4.1 Section Safety
4.1 Section Safety
DANGER
Electrical Shock Hazard
Do not connect or disconnect wiring while the power is on.
Failure to comply will result in death or serious injury.
W ARNING
Electrical Shock Hazard
Do not operate equipment with covers removed.
Failure to comply could result in death or serious injury.
The diagrams in this section may include drives without covers or safety shields to illustrate details. Be sure to reinstall
covers or shields before operating the drives and run the drives according to the instructions described in this manual.
Do not remove covers or touch circuit boards while the power is on.
Failure to comply could result in death or serious injury.
A separate holding brake should be prepared by the user.
The holding brake should be wired so that it is activated by an external sequence when a fault occurs, the power
is shut off, or an emergency switch is triggered.
Failure to comply could result in death or serious injury.
Precautions should be taken on the machine side in crane and hoist applications to ensure that load does not fall
or slip.
Failure to take proper safety precautions can result in serious injury.
4.2 Using the Digital Operator
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 93
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4.2 Using the Digital Operator
Use the digital operator to enter run and stop commands, display data, edit parameters, as well as display fault and alarm
information.
Keys and Displays
Figure 4.1
Figure 4.1 Keys and Displays on the Digital Operator
No.
<1> The STOP key has highest priority. Pressing the STOP key will always cause the drive to stop the motor, even if a Run command is active at
any external Run command source. To disable the STOP key priority, set parameter o2-06 to 0.
<2> The LO/RE key can only switch between LOCAL and REMOTE when the drive is stopped. To disable the LO/RE key to prohibit switching
between LOCAL and REMOTE, set parameter o2-01 to 0.
Display Name Function
1 ESC Key
Returns to the previous display.
Moves the cursor one space to the left.
Pressing and holding this button will return to the Frequency Reference display.
2 RESET Key
Moves the cursor to the right.
Resets the drive to clear a fault situation.
3 RUN Key
Starts the drive in the LOCAL mode.
The Run LED
is on, when the drive is operating the motor.
flashes during deceleration to stop or when the frequency reference is 0.
flashes quickly the drive is disabled by a DI, the drive was stopped using a fast stop DI or a run command
was active during power up.
4 Up Arrow Key Scrolls up to display the next item, selects parameter numbers and increments setting values.
5 Down Arrow Key Scrolls down to display the next item, selects parameter numbers and increments setting values.
6 STOP Key <1> Stops drive operation.
7 ENTER Key
Enters parameter values and settings.
Selects a menu item to move between displays.
8 LO/RE Selection Key <2>
Switches drive control between the operator (LOCAL) and the control circuit terminals (REMOTE). The LED
is on when the drive is in the LOCAL mode (operation from keypad).
9 RUN Light Lit while the drive is operating the motor. Refer to page 95 for details.
10 LO/RE Light Lit while the operator is selected to run the drive (LOCAL mode). Refer to page 95 for details.
11 ALM LED Light
Refer to LED Screen Displays on page 94.
12 FOUT LED Light
13 DRV LED Light
14 REV LED Light
ALM
REV DRV FOUT
LO
RE
ESC
RUN STOP
ENTER RESET
DIGITAL OPERATOR JVOP-182
1
2
3 4 5 6
9
14 13 12
10
8
11
7
YEC_common
ESC
RESET
RUN
STOP
ENTER
LO
RE
RUN
LO
RE
4.2 Using the Digital Operator
94 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Digital Text Display
Text appears on the digital operator as shown below. This section explains the meaning of text as it appears on the display
screen.
Table 4.1 Digital Text Display
LED Screen Displays
Table 4.2 LED Screen Displays
Lit Flashing
Text LED Text LED Text LED Text LED
0 9 I R
1 A J S
2 B K T
3 C L U
4 D M
<1>
V
5 E N W
<1>
<1> Displayed in two digits.
6 F O X none
7 G P Y
8 H Q Z none
Display Lit Flashing Off
The drive has detected an alarm or error
When an alarm occurs
oPE detected
When a fault or error occurs during Auto-Tuning
Normal state (no fault or alarm)
Motor is rotating in reverse Motor is rotating forward
The drive is in the Drive Mode
During Auto-Tuning
When DriveWorksEZ is used <1>
<1> Refer to the DriveWorksEZ instruction manual for further information.
The drive is in the Programming Mode
The drive will not accept a Run command
When the display shows the output frequency
When a display other than the output frequency
monitor is shown.
As illustrated in this
manual
ALM
REV DRV FOUT
DIGITAL OPERATOR JVOP-182
DRV
ALM
REV DRV FOUT
DIGITAL OPERATOR JVOP-182
ALM
ALM
REV DRV FOUT
DIGITAL OPERATOR JVOP-182
4.2 Using the Digital Operator
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 95
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LO/RE LED and RUN LED Indications
Table 4.3 LO/RE LED and RUN LED Indications
Figure 4.2
Figure 4.2 RUN LED Status and Meaning
Figure 4.3
Figure 4.3 RUN LED and Drive Operation
LED Lit Flashing Flashing Quickly <1>
<1> Refer to Figure 4.2 for the difference between flashing and flashing quickly.
Off
When source of the Run command
is assigned to the digital operator
(LOCAL)
Run command to be given from a device other
than the digital operator (REMOTE)
During run
During deceleration to stop
When a Run command is input and
frequency reference is 0 Hz
While the drive is set for LOCAL, a
Run command was entered to the
input terminals after which the drive
was then switched to REMOTE.
A Run command was entered via
the input terminals while not in the
Drive Mode.
During deceleration when a Fast
Stop command was entered.
The drive output is shut off by the
Safe Disable function.
While the drive was running in the
REMOTE mode, the STOP key was
pushed.
The drive was powered up with b1-
17 = 0 (default) while the Run
command is active.
During stop
Examples
Flashing
ON ON
ON
ON ON
ON
1 s
Flashing
quickly
common_TM
only
/
Drive output frequency
during stop
Frequency setting
OFF ON
Flashing
OFF OFF RUN LED
RUN
0 Hz
6 Hz
RUN
STOP STOP
common_TM
only
4.2 Using the Digital Operator
96 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Menu Structure for Digital Operator
Figure 4.4
Figure 4.4 Digital Operator Menu and Screen Structure
<1> Reverse can only be selected when the drive is set for LOCAL. Details on switching between forward and reverse can be found in
Navigating the Drive and Programming Modes on page 97.
XX XX
XX
XX
XX
XX
XX
XX
XX
XX
XX XX
<1>
XX XX
X
ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT DRV
XX X
XX XX
XX X
XX X
XX
XX
Note: XX characters are shown in this manual.
The drive will display the actual setting values.
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Turn the power on
Forward Selection
Output Frequency
Output Current
Output Voltage
Monitor Display
Verify Menu
Set Up Mode
Parameter Setting Mode
Auto-Tuning
Reverse Selection
Description of Key Operations
YEC_common
4.3 The Drive and Programming Modes
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 97
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4.3 The Drive and Programming Modes
The drive has a Programming Mode to program the drive for operation, and a Drive Mode used to actually run the motor.
Drive Mode: In the Drive Mode, the user can start the motor and observe operation status with the monitors that are
available. Parameter settings cannot be edited or changed when in the Drive Mode.
Programming Mode: The Programming Mode allows access to edit, adjust, and verify parameters, as well as perform
Auto-Tuning. Unless set to allow a Run command, the drive will not accept a Run command when the digital operator is
in the Programming Mode.
Note: If parameter b1-08 is set to 0 the drive will accept a Run command only in the Drive Mode. When editing parameters, the user
must first exit the Programming Mode and enter the Drive Mode before starting the motor.
Note: To allow the drive to run the motor while in the Programming Mode, set b1-08 to 1.
Navigating the Drive and Programming Modes
The drive is set to operate in Drive Mode when it is first powered up. Switch between display screens by using the
and keys.
Mode Contents Operator Display Description
Power Up
Frequency Reference
(default)
This display screen allows the user to monitor and change the frequency reference while the drive is running. Refer
to The Drive and Programming Modes on page 97.
Note: The user can select the data displayed when the drive is first powered up with parameter o1-02.
Drive Mode
Forward/Reverse
This display shows the direction that has been selected when the drive is controlled by a REMOTE source.
When the drive is set for LOCAL, the user can switch between FWD and REV as shown below.
Note: For applications that should not run in reverse (fans, pumps, etc.), set parameter b1-04 = 1 to prohibit the
motor from rotating in reverse.
Output Frequency
Display
Displays the frequency that is output from the drive.
Output Current
Display
Monitors the output current of the drive.
Output Voltage
Reference
(default)
Shows the data that selected for display by the user in parameter o1-01. The default setting displays drive output
voltage (o1-01 = 106). Refer to o1: Digital Operator Display Selection on page 450.
Drive Mode
Monitor Display Lists the monitor parameters (U- parameters) available in the drive.
ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT DRV
YEC_c
ommon
ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT DRV
- Forward rotation
- Reverse rotation
ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT DRV FOUT
ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT DRV
ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT DRV
ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT DRV
YEC_
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4.3 The Drive and Programming Modes
98 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Drive Mode Details
The following actions are possible in the Drive Mode:
Run and stop the drive
Monitor the operation status of the drive (frequency reference, output frequency, output current, output voltage, etc.)
View information on an alarm
View a history of alarms that have occurred
Figure 4.5 illustrates how to change the frequency reference from F 0.00 (0 Hz) to F 6.00 (6 Hz) while in the Drive
Mode. This example assumes the drive is set to LOCAL.
Figure 4.5
Figure 4.5 Setting the Frequency Reference while in the Drive Mode
Note: The drive will not accept a change to the frequency reference until the ENTER key is pressed after the frequency reference is
entered. This feature prevents accidental setting of the frequency reference. To have the drive accept changes to the frequency
reference as soon as changes are made without requiring the ENTER key, set o2-05 to 1.
Programming
Mode
Verify Menu
Lists all parameters that have been edited or changed from default settings. Refer to Verifying Parameter
Changes: Verify Menu on page 99.
Setup Group
A select list of parameters necessary to get the drive operating quickly. Refer to Using the Setup Group on
page 100.
Note: Parameters listed in the Setup Group differ depending the Application Preset in parameter A1-06. Refer to
Application Selection on page 108.
Parameter Setting
Mode
Allows the user to access and edit all parameter settings. Refer to Parameter Table on page 408.
Programming
Mode
Auto-Tuning Mode Motor parameters are calculated and set automatically. Refer to Auto-Tuning on page 114.
Drive Mode Frequency Reference Returns to the frequency reference display screen.
Mode Contents Operator Display Description
ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT YEC_
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ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT
YEC_
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ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT
ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT
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ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT DRV
ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT DRV
ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT DRV
Frequency reference
display at power up
Press to select LOCAL
Press until the frequency
reference becomes 6 Hz
Press to select the
digit to the right
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4.3 The Drive and Programming Modes
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 99
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Programming Mode Details
The following actions are possible in the Programming Mode:
Parameter Setting Mode: Access and edit all parameter settings
Verify Menu: Check a list of parameters that have been changed from their original default values
Setup Group: Access a list of commonly used parameters to simplify setup (see Simplified Setup Using the Setup
Group on page 100)
Auto-Tuning Mode: Automatically calculates and sets motor parameters to optimize drive performance
Changing Parameter Settings or Values
This example explains changing C1-02 (Deceleration Time 1) from 10.0 seconds (default) to 20.0 seconds.
Verifying Parameter Changes: Verify Menu
The Verify Menu lists edited parameters from the Programming Mode or as a result of Auto-Tuning. It helps determine
which settings have been changed, and is particularly useful when replacing a drive. If no settings have been changed, the
Verify Menu will read . The Verify Menu also allows users to quickly access and re-edit any parameters settings
that have been changed.
Note: The Verify Menu will not display parameters from the A1 group (except for A1-02) even if those parameters have been changed
from their default settings.
Step Display/Result
1. Turn on the power to the drive. The initial display appears.
2.
Press the or key until the Parameter Setting Mode screen appears.
3.
Press the key to enter the parameter menu tree.
4.
Press or key to select the C parameter group.
5.
Press two times.
6.
Press or key to select the parameter C1-02.
7.
Press to view the current setting value (10.0 s). Left digit flashes.
8.
Press until the desired number is selected. 1 flashes.
9.
Press the key and enter 0020.0.
10.
Press and the drive will confirm the change.
11. The display automatically returns to the screen shown in Step 4.
12.
Press the key until back at the initial display.
ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT DRV
ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT DRV
4.3 The Drive and Programming Modes
100 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
The following example is a continuation of the steps above. Here, parameter C1-02 is accessed using the Verify Menu,
and is changed again from 10.0 s to 20.0 s.
To check the list of edited parameters:
Simplified Setup Using the Setup Group
In the Setup Group, the drive lists the basic parameters needed to set up the drive for the application. It provides a
simplified way to get the application running right away by showing only the most important parameters.
Using the Setup Group
Figure 4.6 illustrates how to enter and how to change parameters in the Setup Group.
The first display shown when entering the Setup Group is the Application Selection menu. Skipping this display will
keep the current Setup Group parameter selection. The default setting for the Setup Group is a group of parameters most
commonly use in general-purpose applications. Pressing the ENTER key from the Application Selection display and
selecting an Application Preset will change the Setup Group to parameters optimal for the application selected. Refer to
Application Selection on page 108.
In this example, the Setup Group is accessed to change b1-01 from 1 to 0. This changes the source of the frequency
reference from the control circuit terminals to the digital operator.
Step Display/Result
1. Turn on the power to the drive. The initial display appears.
2.
Press or until the display shows the top of the Verify Menu.
3.
Press to enter the list of parameters that have been edited from their original default settings.
If parameters other than C1-02 have been changed, use the or key to scroll until C1-02 appears.
4.
Press the key to access the setting value. Left digit flashes.
ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT DRV
4.3 The Drive and Programming Modes
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 101
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Figure 4.6 Setup Group Example
Setup Group Parameters
Table 4.4 lists parameters available by default in the Setup Group. When an Application Preset has been selected in
parameter A1-06 or the Application Selection display of the Setup Group, the parameters selected for the Setup Group
will change automatically. Refer to Application Selection on page 108.
If the desired parameter is not listed in the Setup Group, go to the Programming Mode.
Table 4.4 Setup Group Parameters
Figure 4.6
<1> Use the up and down arrow keys to scroll through the Setup Group. Press the ENTER key to view or change parameter settings.
<2> To return to the previous menu without saving changes, press the ESC key.
Parameter Name Parameter Name
A1-02 Control Method Selection E1-09 Minimum Output Frequency
b1-01 Frequency Reference Selection 1 E1-13 Base Voltage
b1-02 Run Command Selection 1 E2-01 Motor Rated Current
b1-03 Stopping Method Selection E2-11 Motor Rate Power
C1-01 Acceleration Time 1 E5-01 Motor Code Selection
C1-02 Deceleration Time 1 E5-02 Motor Rated Power
C6-01 Drive Duty Mode Selection E5-03 Motor Rated Current
C6-02 Carrier Frequency Selection E5-04 Number of Motor Poles
d1-01 Frequency Reference 1 E5-05 Motor Stator Resistance
d1-02 Frequency Reference 2 E5-06 Motor d-Axis Inductance
d1-03 Frequency Reference 3 E5-07 Motor q-Axis Inductance
d1-04 Frequency Reference 4 E5-09 Motor Induction Voltage Constant 1
d1-17 Jog Frequency Reference E5-24 Motor Induction Voltage Constant 2
E1-01 Input Voltage Setting H4-02 Multi-Function Analog Output Terminal FM Gain
E1-04 Maximum Output Frequency H4-05 Multi-Function Analog Output Terminal AM Gain
E1-05 Maximum Voltage L1-01 Motor Overload Protection Function Selection
E1-06 Base Frequency L3-04 Stall Prevention Selection during Deceleration
ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT
ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT
ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT
ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT
ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT
ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT
ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT
ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT DRV
Control Circuit
Terminal
Parameter Display
Select digit to edit
Operator
<1>
<2>
Press until
appears
<2>
<2>
Frequency reference
appears when
powered up
YEC_TMonly
4.3 The Drive and Programming Modes
102 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Note: Parameter availability depends on the control mode set in A1-02 that is used to run the drive and motor. Consequently, some of
the parameters listed above may not be accessible in certain control modes.
Switching Between LOCAL and REMOTE
When the drive is set to accept the Run command from the digital operator RUN key, this is referred to as LOCAL mode.
When the drive is set to accept the Run command from an external device (via the input terminals, serial
communications, etc.) this is referred to as REMOTE mode.
WARNING! Sudden Movement Hazard. The drive may start unexpectedly if the Run command is already applied when switching from
LOCAL mode to REMOTE mode when b1-07 = 1, resulting in death or serious injury. Be sure all personnel are clear of rotating
machinery.
The operation can be switched between LOCAL and REMOTE either by using the LO/RE key on the digital operator or
a digital input.
Note: 1. After selecting LOCAL, the LO/RE light will remain lit.
2. The drive will not allow the user to switch between LOCAL and REMOTE during run.
Using the LO/RE Key on the Digital Operator
Using Input Terminals S1 through S8 to Switch between LO/RE
The user can also switch between LOCAL and REMOTE modes using one of the digital input terminals S1 through S8
(set the corresponding parameter H1- to 1).
When setting the multi-function input terminals,
Note: 1. Refer to Parameter Table on page 408 for a list of digital input selections.
2. Setting H1- to 1 disables the LO/RE key on the digital operator.
Step Display/Result
1. Turn on the power to the drive. The initial display appears.
2.
Press . The LO/RE light will light up. The drive is now in LOCAL.
To set the drive for REMOTE operation, press the key again.
ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT DRV
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LO
RE
ESC
RUN STOP
ENTER RESET
ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT DRV
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4.4 Start-Up Flowcharts
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 103
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4.4 Start-Up Flowcharts
The flowcharts in this section summarize basic steps required to start the drive. Use the flowcharts to determine the most
appropriate start-up method for a given application. The charts are intended as a quick reference to help familiarize the
user with start-up procedures.
Note: To set up the drive using one of the Application Presets, refer to Application Selection on page 108.
Flowchart A: Basic Start-up and Motor Tuning
Flowchart A in Figure 4.7 describes a basic start-up sequence. This sequence varies slightly depending on the
application. Use drive default parameter settings in simple applications that do not require high precision.
Figure 4.7
Figure 4.7 Basic Start-up
Note: When the motor cable length has changed for more than 50 m after Auto-Tuning has been performed (e.g., after the drive has
been set up and then later installed in a different location), execute Stationary Auto-Tuning for resistance between motor lines
once the drive is installed in its final installation location.
Note: Auto-Tuning should be performed again after installing an AC reactor or other such components to the output side of the drive.
Flowchart Subchart Objective Page
A Basic startup procedure and motor tuning 103
4.7 Auto-Tuning
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 121
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T1-10: Motor Rated Slip
Sets the rated slip for the motor.
The default setting displayed is the motor rated slip for a Yaskawa motor calculated from the output power set in T1-02.
Enter the data listed on the motor test report.
T1-11: Motor Iron Loss
Provides iron loss information for determining the Energy Saving coefficient. T1-11 will first display a value for the
motor iron loss that the drive automatically calculated the when motor capacity was entered to T1-02. If the motor test
report is available, enter the motor iron loss value listed there.
Parameter Settings during PM Motor Auto-Tuning: T2
The T2- parameters are used to set the Auto-Tuning input data for PM motor tuning.
T2-01: PM Motor Auto-Tuning Mode Selection
Selects the type of Auto-Tuning to be performed. Refer to Auto-Tuning for Permanent Magnet Motors on page 115 for
details on different types of Auto-Tuning.
0: PM Motor Parameter Settings
1: PM Stationary Auto-Tuning
2: PM Stationary Auto-Tuning for Stator Resistance
3: Z-Pulse Offset Tuning
8: Inertia Tuning
9: ASR Gain Auto-Tuning
T2-02: PM Motor Code Selection
If the drive is operating a Yaskawa PM motor from the SMRA, SSR1, or SST4 series, enter the motor code for the motor
in parameter T2-02. This will automatically set parameters T2-03 through T2-14. If using a specialized motor or one
designed by a manufacturer other than Yaskawa, set T2-02 to FFFF. Data from the motor nameplate or the motor test
report will then need to be entered as prompted.
Only the designated PM motor codes may be entered. The PM motor codes accepted by the drive will differ by the
control mode that has been selected. Refer to E5: PM Motor Settings on page 207 for motor codes.
T2-03: PM Motor Type
Selects the type of PM motor the drive will operate.
0: IPM motor
1: SPM motor
No. Name Setting Range Default
T1-10 Motor Rated Slip 0.00 to 20.00 Hz
No. Name Setting Range Default
T1-11 Motor Iron Loss 0 to 65535 W E2-11 (E4-11)
No. Name Setting Range Default
T2-01 PM Motor Auto-Tuning Mode Selection
0 to 2 (OLV/PM, AOLV/PM)
0 to 3, 8, 9 (CLV/PM)
0
No. Name Setting Range Default
T2-02 PM Motor Code Selection 0000 to FFFF Depending on A1-02 and o2-04
No. Name Setting Range Default
T2-03 PM Motor Type 0, 1 1
4.7 Auto-Tuning
122 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
T2-04: PM Motor Rated Power
Specifies the motor rated power in kilowatts.
T2-05: PM Motor Rated Voltage
Sets the motor rated voltage.
T2-06: PM Motor Rated Current
Enter the motor rated current in amps.
T2-07: PM Motor Base Frequency
Enter the motor base frequency in Hz.
Note: T2-07 will be displayed when in OLV/PM.
T2-08: Number of PM Motor Poles
Enter the number of motor poles.
T2-09: PM Motor Base Speed
Enter the motor rated speed in r/min.
Note: T2-09 will be displayed when in AOLV/PM and CLV/PM.
T2-10: PM Motor Stator Resistance
Enter the motor stator resistance per motor phase.
T2-11: PM Motor d-Axis Inductance
Enter the d axis inductance per motor phase.
No. Name Setting Range Default
T2-04 PM Motor Rated Power 0.00 to 650.00 kW Depending on o2-04
No. Name Setting Range Default
<1> The setting range and default value shown here is for a 200 V class drive. These values double when using a 400 V class unit.
T2-05 <1> PM Motor Rated Voltage 0.0 to 255.0 V 200.0 V
No. Name Setting Range Default
T2-06 PM Motor Rated Current
10% to 200% of the drive rated
current.
Depending on o2-04
No. Name Setting Range Default
T2-07 PM Motor Base Frequency 0.0 to 400.0 Hz 87.5 Hz
No. Name Setting Range Default
T2-08 Number of PM Motor Poles 2 to 48 6
No. Name Setting Range Default
T2-09 PM Motor Base Speed 0 to 24000 r/min 1750 r/min
No. Name Setting Range Default
T2-10 PM Motor Stator Resistance 0.000 to 65.000 Depending on T2-02
No. Name Setting Range Default
T2-11 PM Motor d-Axis Inductance 0.00 to 600.00 mH Depending on T2-02
4.7 Auto-Tuning
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 123
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T2-12: PM Motor q-Axis Inductance
Enter the q axis inductance per motor phase.
T2-13: Induced Voltage Constant Unit Selection
Selects the units used for setting the induced voltage coefficient.
0: mV (r/min)
1: mV (rad/sec)
Note: If T2-13 is set to 0, then the drive will use E5-24 (Motor Induction Voltage Constant 2), and will automatically set E5-09 (Motor
Induction Voltage Constant 1) to 0.0. If T2-13 is set to 1, then the drive will use E5-09 and will automatically set E5-25 to 0.0.
T2-14: PM Motor Induced Voltage Constant (Ke)
Enter the motor induced voltage constant (Ke).
T2-15: Pull-In Current Level for PM Motor Tuning
Sets the amount of pull-in current used to tune the d-axis and q-axis inductance. Set as a percentage of the motor rated
current.
T2-16: PG Number of Pulses Per Revolution for PM Motor Tuning
Enter the number of pulses from the PG encoder per motor rotation. Set the actual number of pulses for one full motor
rotation.
T2-17: Encoder Z-Pulse Offset ()
Sets the amount of compensation or offset in 0.1 degree units in order to fine-tune the home position. If the amount of
offset needed for the Z pulse is unknown or if the PG encoder is replaced, perform Z pulse tuning.
Parameter Settings during Inertia and Speed Control Loop Auto-Tuning: T3
These tuning methods apply a sine wave test signal to the system. By the measuring the response the drive estimates the
system inertia. It automatically sets parameters listed in Table 4.26.
Table 4.26 Parameters Adjusted by Inertia and Speed Loop Auto-Tuning
No. Name Setting Range Default
T2-12 PM Motor q-Axis Inductance 0.00 to 600.00 mH Depending on T2-02
No. Name Setting Range Default
T2-13 Induced Voltage Constant Unit Selection 0, 1 1
No. Name Setting Range Default
T2-14 PM Motor Induced Voltage Constant 0.1 to 2000.0 Depending on T2-02
No. Name Setting Range Default
T2-15 Pull-In Current Level for PM Motor Tuning 0 to 120% 30%
No. Name Setting Range Default
T2-16 PG Number of Pulses Per Revolution for PM Motor Tuning 0 to 60000 ppr 1024 ppr
No. Name Setting Range Default
T2-17 Encoder Z-Pulse Offset -180.0 to 180.0 deg 0.0 deg
Parameter Description
T1-01 or T2-01
8
Inertia Tuning
9
Speed Control Loop (ASR) Tuning
C5-01 ASR Proportional Gain 1 N/A YES
C5-17 (C5-37) Motor Inertia YES YES
C5-18 (C5-38) Motor Inertia Ratio YES YES
L3-24 Motor Acceleration Time for Inertia Calculations YES YES
L3-25 Load Inertia Ratio YES YES
n5-03 Feed Forward Control Ratio Gain YES YES
4.7 Auto-Tuning
124 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
T3-01: Inertia Tuning Frequency Reference
Sets the frequency of the test signal applied to the motor during Inertia Tuning. Although this setting rarely needs to be
changed, increasing the value may be beneficial when working with high inertia loads.
T3-02: Inertia Tuning Reference Amplitude
Enter the amplitude of the test signal applied to the motor during Inertia Tuning. Although this setting rarely needs to be
changed, try decreasing the value if the load inertia is too large and causes problems during Inertia Tuning. If a fault
occurs when T3-01 is set to low value, the situation may be remedied by adjusting T3-02.
T3-03: Motor Inertia
Enter the inertia of the motor. This value is used to determine the load inertia using the test signal response. The default
setting is for a Yaskawa standard motor as listed in the motor inertia table.
Note: The display resolution depends on the rated output power of the drive after the Drive Duty has been set in parameter C6-01.
Drives with a maximum output up to 37 kW will display this value in units of 0.0001 kgm
2
. Drives with a maximum output 37 to
185 kW will display this value in units of 0.001 kgm
2
. Refer to A1000 Model Selection on page 29 for details.
T3-04: ASR Response Frequency
Sets the response frequency (reciprocal of the step response time constant) of the system or the connected machine. The
drive uses this value and the load inertia to fine-tune the speed control loop gain (C5-01, ASR Gain 1). Oscillation may
result if the value input here is higher than the actual response frequency of the system.
No. Name Setting Range Default
T3-01 Inertia Tuning Frequency Reference 0.1 to 20.0 Hz 3.0 Hz
No. Name Setting Range Default
T3-02 Inertia Tuning Reference Amplitude 0.1 to 10.0 rad 0.5 rad
No. Name Setting Range Default
T3-03 Motor Inertia 0.0001 to 600.00 kgm
2
Depending on E2-11
No. Name Setting Range Default
T3-04 ASR Response Frequency 0.1 to 50.0 Hz 10.0 Hz
4.8 No-Load Operation Test Run
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 125
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4.8 No-Load Operation Test Run
No-Load Operation Test Run
This section explains how to operate the drive with the motor decoupled from the load during a test run.
Before Starting the Motor
Check the following items before operation:
Ensure the area around the motor is safe.
Ensure external emergency stop circuitry is working properly and other safety precautions have been taken.
During Operation
Check the following items during operation:
The motor should rotate smoothly (i.e., no abnormal noise or oscillation).
The motor should accelerate and decelerate smoothly.
No-Load Operation Instructions
The following example illustrates a test run procedure using the digital operator.
Note: Before starting the motor, set the frequency reference d1-01 to 6 Hz.
Step Display/Result
1. Turn on the power to the drive. The initial display appears.
2.
Press the key to select LOCAL. The LO/RE light will turn on.
3.
Press to give the drive a Run command. RUN will light and the motor will rotate at 6 Hz.
4. Ensure the motor is rotating in the correct direction and that no faults or alarms occur.
5.
If there is no error in step 4, press to increase the frequency reference. Increase the frequency in
increments of 10 Hz, verifying smooth operation at all speeds. For each frequency, check the drive output
current using monitor U1-03. The current should be well below the motor rated current.
6. The drive should operate normally. Press to stop the motor. RUN flashes until the motor comes to a
complete stop.
ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT DRV
LO
RE
ESC
RUN STOP
ENTER RESET
ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT
Off On
DRV
LO
RE
ESC
RUN STOP
ENTER RESET
ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT DRV
Off On
Motor
Forward
STOP
LO
RE
ESC
RUN STOP
ENTER RESET
ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT
Flashing Off
DRV
126 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
4.9 Test Run with Load Connected
4.9 Test Run with Load Connected
Test Run with the Load Connected
After performing a no-load test run, connect the motor and proceed to run the motor and load together.
Notes on Connected Machinery
Clear the area around the motor.
The motor should come to a complete stop without problems.
Connect the load and machinery to the motor.
Fasten all installation screws properly. Check that the motor and connected machinery are held in place.
Confirm that the Fast Stop circuit or mechanical safety measures operate correctly.
Be ready to press the STOP button in case of emergency.
Checklist Before Operation
The motor should rotate in the proper direction.
The motor should accelerate and decelerate smoothly.
Operating the Motor under Loaded Conditions
Test run the application similarly to the no-load test procedure when connecting the machinery to the motor.
Watch monitor parameter U1-03 during operation to ensure there is no overcurrent.
If the application permits running the load in the reverse direction, try changing motor direction and the frequency
reference while watching for abnormal motor oscillation or vibration.
Correct any problems that occur with hunting, oscillation, or other control-related issues.
4.10 Verifying Parameter Settings and Backing Up Changes
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 127
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4.10 Verifying Parameter Settings and Backing Up Changes
Use the Verify Menu to check all changes to parameter settings. Refer to Verifying Parameter Changes: Verify Menu on
page 99.
Save the verified parameter settings. Change the access level or set a password to the drive to prevent accidental
modification of parameter settings.
Backing Up Parameter Values: o2-03
The following procedure saves all parameters settings to drive memory where they can later be recalled. Set o2-03 to 1
to save parameter changes. This saves all parameter settings, and then returns o2-03 to 0. The drive can now recall the
saved parameters by performing a User Initialization (A1-03 = 1110).
Parameter Access Level: A1-01
Setting the Access Level for Operation only (A1-01 = 0) allows the user to access parameters A1- and U-
only. Other parameters are not displayed.
Setting the Access Level for User Parameters (A1-01 = 1) allows the user to access only the parameters that have been
previously saved as User Parameters. This is helpful when displaying only the relevant parameters for a specific
application.
Password Settings: A1-04, A1-05
The user can set a password to the drive to restrict access. The password is selected via parameter A1-05. The password
must be entered to A1-04 to unlock parameter access (i.e., parameter setting A1-04 must match the value programmed
into A1-05). The following parameters cannot be viewed or edited until the value entered to A1-04 correctly matches the
value set to A1-05: A1-01, A1-02, A1-03, A1-06, and A2-01 through A2-33.
Note: Parameter A1-05 is hidden from view. To display A1-05, access parameter A1-04 and simultaneously press the key and the
key.
No. Parameter Name Description Setting Range Default Setting
o2-03
User Parameter
Default Value
Lets the user create a set of default settings for a User Initialization.
0: Saved/Not set
1: Set Defaults - Saves current parameter settings as the default values for a User Initialization.
2: Clear All - Clears the currently saved user settings. After saving the user parameter set value, the items of
1110 (User Parameter Initialize) are displayed in A1-03 (User Parameter Default Value).
0 to 2 0
A1-03 Initialize Parameters
Selects a method to initialize the parameters.
0: No Initialize
1110: User Initialization (The user must first program and store desired settings using parameter o2-03)
2220: 2-Wire Initialization (parameter initialized prior to shipment)
3330: 3-Wire Initialization
5550: oPE4 Fault reset
0 to 5550 0
No.
Parameter
Name
Description
Setting
Range
Default
A1-01
Access Level
Selection
Selects which parameters are accessible via the digital operator.
0: Operation only. A1-01, A1-04, and A1-06 can be set and monitored, U- parameters can also be viewed.
1: User Parameters. Only those recently changed among application parameters A2-01 to A2-16 and A2-17 to A2 -32
can be set and monitored.
2: Advanced Access Level. All parameters can be set and monitored.
0 to 2 2
A2-01
to
A2-32
User Parameters
1 to 32
Parameters selected by the user are saved as User Parameters. This includes recently viewed parameters or parameters
specifically selected for quick access.
If parameter A2-33 is set to 1, recently viewed parameters will be listed between A2-17 and A2-32. Parameters A2-01
through A2-16 must be manually selected by the user.
If A2-33 is set to 0, then recently viewed parameters will not be saved to the group of User Parameters. A2-
parameters are now available for manual programming.
b1-01 to
o-
A2-33
User Parameter
Automatic
Selection
0: Parameters A2-01 through A2-32 are reserved for the user to create a list of User Parameters.
1: Save history of recently viewed parameters. Recently edited parameters will be saved to A2-17 through A2-32 for
quick access. The most recently changed parameter is saved to A2-17. The second most recently changed parameter is
saved to A2-18.
0, 1 1
4.10 Verifying Parameter Settings and Backing Up Changes
128 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Copy Function
Parameter settings can be copied to another drive to simplify parameter restoration or multiple drive setup. The drive
supports the following copy options:
LED Operator (standard in all models)
The LED operator used to operate the drive also supports copying, importing, and verifying parameter settings. Refer
to o3: Copy Function on page 290 for details.
LCD Operator
The optional LCD operator also supports copying, importing, and verifying parameter settings. Refer to the manual
supplied with the LCD operator for instructions.
USB Copy Unit and CopyUnitManager
The copy unit is an external option connected to the drive to copy parameter settings from one drive and save those
settings to another drive. Refer to the manual supplied with the USB Copy Unit for instructions.
The CopyUnitManager is a PC software tool. It allows the user to load parameter settings from the Copy Unit onto a
PC, or from the PC onto a Copy Unit. This is useful when managing parameters for various drives or applications.
Refer to the manual supplied with the CopyUnitManager for instructions.
DriveWizard Plus
DriveWizard is a PC software tool for parameter management, monitoring, and diagnosis. DriveWizard can load, store,
and copy drive parameter settings. For details, refer to Help in the DriveWizard software.
4.11 Test Run Checklist
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 129
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4.11 Test Run Checklist
Review the checklist before performing a test run. Check each item that applies.
Check the items that correspond to the control mode being used.
WARNING! Ensure start/stop and safety circuits are wired properly and in the correct state before energizing the drive. Failure to
comply could result in death or serious injury from moving equipment. When programmed for 3-Wire control, a momentary closure on
terminal S1 may cause the drive to start.
Proceed to the following checklist after checking items 4 through 15.
No. Checklist Page
1 Thoroughly read the manual before performing a test run.
2 Turn the power on. 107
3 Set the voltage for the power supply to E1-01. 196
4 Select the correct duty rating (C6-01) for the application.
No. Checklist Page
V/f Control (A1-02 = 0) and V/f Control with PG (A1-02 = 1)
5
Select the best V/f pattern according to the application and motor characteristics.
Example: If using a motor with a rated frequency of 60.0 Hz, set E1-03 to 1.
6 Perform Rotational Auto-Tuning for V/f Control if using Energy Saving functions. 114
V/f Control with PG (A1-02 = 1)
7 Setup the PG feedback parameters correctly and make sure the encoder pulse counting direction is correct. 209
8 Set the proportional gain for ASR speed control to C5-01 and the integral time to C5-02. 175
Open Loop Vector Control (A1-02 = 2) or Closed Loop Vector Control (A1-02=3)
9 Perform Auto-Tuning as described. 119
Closed Loop Vector Control (A1-02 = 3)
10 Set the proportional gain for ASR speed control to C5-01 and the integral time to C5-02. Perform ASR Tuning if possible. 175
Open Loop Vector Control for PM (A1-02 = 5)
11 Perform Auto-Tuning as described. 121
Advanced Open Loop Vector Control for PM (A1-02 = 6)
12 Perform Auto-Tuning as described. 121
13 Set the proportional gain for ASR speed control to C5-01 and the integral time to C5-02. 175
Closed Loop Vector Control for PM (A1-02 = 7)
14 Perform Auto-Tuning as described. 121
15 Set the proportional gain for ASR speed control to C5-01 and the integral time to C5-02. Perform ASR Tuning if possible. 175
16 Set the Z pulse offset to or enter the Z manually to parameter E5-11. 121
No. Checklist Page
17 The should light after giving a Run command.
18 To give a Run command and frequency reference from the digital operator, press to set to LOCAL. The LO/RE key will light. 102
20
If the motor rotates in the opposite direction during the test run, switch two of the drive output terminals (U/T1, V/T2, W/T3) or change
parameter b1-14.
107
21 Set the correct values for the motor rated current (E2-01, E4-01, E5-03) and motor protection (L1-01) to ensure motor thermal protection.
22
If the Run command and frequency reference are provided via the control circuit terminals, set the drive for REMOTE and be sure the LO/RE
light is out.
102
23
If the control circuit terminals should supply the frequency reference, select the correct voltage input signal level (0 to 10 V) or the correct
current input signal level (4 to 20 mA or 0 to 20 mA).
137
24 Set the proper voltage to terminal A1 and A3 (-10 to +10 V). 137
25
When current input is used, switch the drives built-in DIP switch S1 from the V-side to I-side. Set the level for current signal used to H3-09
(set 2 for 4 to 20 mA, or 3 for 0 to 20 mA).
137
26 Set the proper current to terminal A2. (-10 to +10 V, 4 to 20 mA or 0 to 20 mA). 137
4.11 Test Run Checklist
130 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
27
If the frequency reference is supplied via one of the analog inputs, make sure the analog input produces the desired frequency reference. Make
the following adjustments if the drive does not operate as expected:
Gain adjustment: Set the maximum voltage/current signal and adjust the analog input gain (H3-03 for input A1, H3-11 for input A2, H3-07
for analog input A3) until the frequency reference value reaches the desired value.
Bias adjustment: Set the minimum voltage/current signal and adjust the analog input bias (H3-04 for input A1, H3-12 for input A2, H3-08 for
analog input A3) until the frequency reference value reaches the desired minimum value.
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5.2 b: Application
156 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
b5-01: PID Function Setting
Enables or disables the PID operation and selects the PID operation mode.
Setting 0: PID disabled
Setting 1: Output frequency = PID output 1
The PID controller is enabled and the PID output builds the frequency reference. The PID input is D controlled.
Setting 2: Output frequency = PID output 2
The PID controller is enabled and the PID output builds the frequency reference. The PID feedback is D controlled.
Setting 3: Output frequency = frequency reference + PID output 1
The PID controller is enabled and the PID output is added to the frequency reference. The PID input is D controlled.
Setting 4: Output frequency = frequency reference + PID output 2
The PID controller is enabled and the PID output is added to the frequency reference. The PID feedback is D controlled.
b5-02: Proportional Gain Setting (P)
Sets the P gain that is applied to the PID input. A large value will tend to reduce the error, but may cause instability
(oscillations) if set too high. A low value may allow too much offset between the setpoint and feedback.
b5-03: Integral Time Setting (I)
Sets the time constant that is used to calculate the integral of the PID input. The smaller the integral time set to b5-03, the
faster the offset will be eliminated. If set too short, it can cause overshoot or oscillation. To turn off the integral time, set
b5-03 = 0.00.
b5-04: Integral Limit Setting
Sets the maximum output possible from the integral block. Set as a percentage of the maximum frequency (E1-04).
Note: On some applications, especially those with rapidly varying loads, the output of the PID function may show a fair amount of
oscillation. To suppress this oscillation, a limit can be applied to the integral output by programming b5-04.
b5-05: Derivative Time (D)
Sets the time the drive predicts the PID input/PID feedback signal based on the derivative of the PID input/PID feedback.
Longer time settings will improve the response but can cause vibrations. Shorter settings will reduce the overshoot but
also reduce the controller responsiveness. D control is disabled by setting b5-05 to zero seconds.
b5-06: PID Output Limit
Sets the maximum output possible from the entire PID controller. Set as a percentage of the maximum frequency (E1-
04).
No. Parameter Name Setting Range Default
b5-01 PID Function Setting 0 to 4 0
No. Name Setting Range Default
b5-02 Proportional Gain Setting (P) 0.00 to 25.00 1.00
No. Name Setting Range Default
b5-03 Integral Time Setting (I) 0.0 to 360.0 s 1.0 s
No. Name Setting Range Default
b5-04 Integral Limit Setting 0.0 to 100.0% 100.0%
No. Name Setting Range Default
b5-05 Derivative Time (D) 0.00 to 10.00 s 0.00 s
No. Name Setting Range Default
b5-06 PID Output Limit 0.0 to 100.0% 100.0%
5.2 b: Application
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 157
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b5-07: PID Offset Adjustment
Sets the offset added to the PID controller output. Set as a percentage of the maximum frequency.
b5-08: PID Primary Delay Time Constant
Sets the time constant for the filter applied to the output of the PID controller. Normally, change is not required.
Note: Useful when there is a fair amount of oscillation or when rigidity is low. Set to a value larger than the cycle of the resonant
frequency. Increasing this time constant may reduce the responsiveness of the drive.
b5-09: PID Output Level Selection
Normally a positive PID input (feedback smaller than setpoint) leads to positive PID output. Parameter b5-09 can be used
to reverse the sign of the PID controller output signal.
Setting 0: Normal Output
A positive PID input causes an increase in the PID output (direct acting).
Setting 1: Reverse Output
A positive PID input causes a decrease in the PID output (reverse acting).
b5-10: PID Output Gain Setting
Applies a gain to the PID output and can be helpful when the PID function is used to trim the frequency reference (b5-01
= 3 or 4).
b5-11: PID Output Reverse Selection
Determines whether a negative PID output reverses the direction of drive operation or not. When the PID function is used
to trim the frequency reference (b5-01 = 3 or 4), this parameter has no effect and the PID output will not be limited (same
as b5-11 = 1).
Setting 0: Reverse Disabled
Negative PID output will be limited to 0 and the drive output will be stopped.
Setting 1: Reverse Enabled
Negative PID output will cause the drive to run in the opposite direction.
PID Feedback Loss Detection
The PID feedback loss detection function can detect broken sensors or broken sensor wiring. It should be used whenever
PID control is enabled to prevent critical machine conditions (e.g., acceleration to max. frequency) caused by a feedback
loss.
Feedback loss can be detected in two ways:
Feedback Low Detection
Detected when the feedback falls below a certain level for longer than the specified time. This function is set up using
parameters b5-12 to b5-14.
No. Name Setting Range Default
b5-07 PID Offset Adjustment -100.0 to 100.0% 0.0%
No. Name Setting Range Default
b5-08 PID Primary Delay Time Constant 0.00 to 10.00 s 0.00 s
No. Parameter Name Setting Range Default
b5-09 PID Output Level Selection 0 or 1 0
No. Name Setting Range Default
b5-10 PID Output Gain Setting 0.00 to 25.00 1.00
No. Parameter Name Setting Range Default
b5-11 PID Output Reverse Selection 0 or 1 0
5.2 b: Application
158 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Feedback High Detection
Detected when the feedback rises beyond a certain level for longer than the specified time. This function is set up using
parameters b5-12, b5-36, and b5-37.
The following figure explains the working principle of feedback loss detection when the feedback signal is too low.
Feedback high detection works in the same way.
Figure 5.23
Figure 5.23 PID Feedback Loss Detection
b5-12: PID Feedback Loss Detection Selection
Enables or disables the feedback loss detection and sets the operation when a feedback loss is detected.
Setting 0: Digital Output Only
A digital output set for PID feedback low (H2- = 3E) will be triggered if the PID feedback value is below the
detection level set to b5-13 for the time set to b5-14 or longer. A digital output set for PID feedback high (H2- =
3F) will be triggered if the PID feedback value is beyond the detection level set to b5-36 for longer than the times set to
b5-37. Neither a fault nor an alarm is displayed on the digital operator. The drive will continue operation. When the
feedback value leaves the loss detection range, the output is reset.
Setting 1: Feedback Loss Alarm
If the PID feedback value falls below the level set to b5-13 for longer than the time set to b5-14, a FBL - Feedback
Low alarm will be displayed and a digital output set for PID feedback low (H2- = 3E) will be triggered. If the
PID feedback value exceeds the level set to b5-36 for longer than the time set to b5-37, a FBH - Feedback High alarm
will be displayed and a digital output set for PID feedback high (H2- = 3F) will be triggered. Both events trigger
an alarm output (H1- = 10). The drive will continue operation. When the feedback value leaves the loss detection
range, the alarm and outputs are reset.
Setting 2: Feedback Loss Fault
If the PID feedback value falls below the level set to b5-13 for longer than the time set to b5-14, a FbL - Feedback Low
fault will be displayed. If the PID feedback value exceeds the level set to b5-36 for longer than the time set to b5-37, a
FbH - Feedback High fault will be displayed. Both events trigger a fault output (H1- = E) and cause the drive to
stop the motor.
Setting 3: Digital output only, even if PID is disabled by digital input
Same as b5-12 = 0. Detection is still active even if PID is disabled by a digital input (H1- = 19).
Setting 4: Feedback loss alarm, even if PID is disabled by digital input
Same as b5-12 = 1. Detection is still active even if PID is disabled by a digital input (H1- = 19).
Setting 5: Feedback loss fault, even if PID is disabled by digital input
Same as b5-12 = 2. Detection is still active even if PID is disabled by a digital input (H1- = 19).
No. Parameter Name Setting Range Default
b5-12 PID Feedback Loss Detection Selection 0 to 5 0
PID feedback value
PID
Feedback
Detection
Loss Level
(b5-13)
PID Feedback
Loss Detection Time
(b5-14)
no FbL
detection
FbL detection
time
PID Feedback
Loss Detection Time
(b5-14)
common_TMonly
5.2 b: Application
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 159
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b5-13: PID Feedback Low Detection Level
Sets the feedback level used for PID feedback low detection. The PID feedback has to fall below this level for longer
than the time b5-14 before feedback loss is detected.
b5-14: PID Feedback Low Detection Time
Sets the time that the PID feedback has to fall below b5-13 before feedback loss is detected.
b5-36: PID Feedback High Detection Level
Sets the feedback level used for PID feedback high detection. The PID feedback has to exceed this level for longer than
the time b5-37 before feedback loss is detected.
b5-37: PID Feedback High Detection Time
Sets the time for that the PID feedback has to exceed b5-36 before feedback loss is detected.
PID Sleep
The PID Sleep function stops the drive when the PID output or the frequency reference falls below the PID Sleep
operation level for a certain time. The drive will resume operating once the PID output or frequency reference rises above
the PID Sleep operation level for the specified time. An example of PID Sleep operation appears in the figure below.
Figure 5.24
Figure 5.24 PID Sleep Operation
Notes on using the PID Sleep function
The PID Sleep function is always active, even if PID control is disabled.
The PID Sleep function stops the motor according to the stopping method in b1-03.
The parameters necessary that control the PID Sleep function are explained below.
b5-15: PID Sleep Function Start Level
Sets the level that triggers PID Sleep.
The drive goes into Sleep mode if the PID output or frequency reference is smaller than b5-15 for longer than the time set
in b5-16. It resumes the operation when the PID output or frequency reference is above b5-15 for longer than the time set
in b5-16.
No. Name Setting Range Default
b5-13 PID Feedback Low Detection Level 0 to 100% 0%
No. Name Setting Range Default
b5-14 PID Feedback Low Detection Time 0.0 to 25.5 s 1.0 s
No. Name Setting Range Default
b5-36 PID Feedback High Detection Level 0 to 100% 100%
No. Name Setting Range Default
b5-37 PID Feedback High Detection Time 0.0 to 25.5 s 1.0 s
No. Name Setting Range Default
b5-15 PID Sleep Function Start Level 0.0 to 400.0 Hz 0.0 Hz
PID Output
PID Sleep Level ( b5-15)
Sleep Delay Time
Sleep Delay Time
Run command enabled
Continues to output During Run
Internal Run
command
External Run
command
During Run
Stop
b5-16 b5-16
Run
common_TMonly
5.2 b: Application
160 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
b5-16: PID Sleep Delay Time
Sets the delay time to activate or deactivate the PID Sleep function.
b5-17: PID Accel/Decel Time
The PID acceleration/deceleration time is applied on the PID setpoint value.
As the normal acceleration times C1- are applied after the PID output, they reduce the responsiveness of the system
and can cause hunting or overshoot and undershoot when the setpoint changes quickly. Using the PID acceleration/
deceleration time instead helps to avoid such problems.
The PID acceleration/deceleration time can be canceled using a digital input programmed for PID SFS cancel (H1-
= 34).
b5-18: PID Setpoint Selection
Enables or disables parameter b5-19 for PID setpoint.
Setting 0: Disabled
Parameter b5-19 is not used as the PID setpoint.
Setting 1: Enabled
Parameter b5-19 is used as PID setpoint.
b5-19: PID Setpoint Value
Used as the PID setpoint if parameter b5-18 = 1.
b5-20: PID Setpoint Scaling
Determines the units that the PID setpoint (b5-19) is set in and displayed. Also determines the units for monitors U5-01
and U5-04.
Setting 0: Hz
The setpoint and PID monitors are displayed in Hz with a resolution of 0.01 Hz.
Setting 1: %
The setpoint and PID monitors are displayed as a percentage with a resolution of 0.01%.
Setting 2: r/min
The setpoint and PID monitors are displayed in r/min with a resolution of 1 r/min.
Setting 3: User Defined
Parameters b5-38 and b5-39 determine the units and resolution used to display the values the setpoint in b5-19, and PID
monitors U1-01 and U1-04.
No. Name Setting Range Default
b5-16 PID Sleep Delay Time 0.0 to 25.5 s 0.0 s
No. Name Setting Range Default
b5-17 PID Accel/Decel Time 0.0 to 6000.0 s 0.0 s
No. Parameter Name Setting Range Default
b5-18 PID Setpoint Selection 0 or 1 0
No. Name Setting Range Default
b5-19 PID Setpoint Value 0.00 to 100.00% 0.00%
No. Parameter Name Setting Range Default
b5-20 PID Setpoint Scaling 0 to 3 1
5.2 b: Application
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 161
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b5-34: PID Output Lower Limit
Sets the minimum possible PID controller output as a percentage of the maximum output frequency (E1-04). The lower
limit is disabled when set to 0.00%
b5-35: PID Input Limit
Sets the maximum allowed PID input as a percentage of the maximum output frequency (E1-04). Parameter b5-35 acts as
a bipolar limit.
b5-38, b5-39: PID Setpoint User Display, PID Setpoint Display Digits
When parameter b5-20 is set to 3, the parameters b5-38 and b5-39 can be used to set a user defined display for the PID
setpoint (b5-19) and PID feedback monitors (U5-01, U5-04).
Parameter b5-38 determines the display value when the maximum frequency is output. Parameter b5-39 determines the
number of digits. The setting value is equal to the number of decimal places.
b5-40: Frequency Reference Monitor Content During PID
Sets the content of the frequency reference monitor display (U1-01) when PID control is active.
Setting 0: Frequency Reference after PID
Monitor U1-01 displays the frequency reference increased or reduced for the PID output.
Setting 1: Frequency Reference
Monitor U1-01 displays the frequency reference value.
Fine-Tuning PID
Once PID control parameters have been set, fine-tuning may be required. Follow the directions below.
Table 5.11 PID Fine Tuning
No. Name Setting Range Default
b5-34 PID Output Lower Limit -100.0 to 100.0% 0.00%
No. Name Setting Range Default
b5-35 PID Input Limit 0 to 1000.0% 1000.0%
No. Name Setting Range Default
b5-38 PID Setpoint User Display 1 to 60000 Determined by b5-20
b5-39 PID Setpoint Display Digits 0 to 3 Determined by b5-20
No. Name Setting Range Default
b5-40 Frequency Reference Monitor Content During PID 0 or 1 0
Goal Tuning Procedure Result
Overshoot must be suppressed
Reduce the derivative time (b5-05)
increase the integral time (b5-03)
Quickly achieve stability, and some
overshoot is permissible
Decrease the integral time (b5-03)
Increase the derivative time (b5-05)
Response
Before adjustment
After adjustment
Time
Response
Before adjustment
After adjustment
Time
5.2 b: Application
162 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
b6: Dwell Function
The Dwell function is used to temporarily hold the frequency reference at a predefined value for a set time, then continue
accelerating or decelerating.
If used with induction motors, the Dwell function can help prevent speed loss when starting and stopping a heavy load. If
running a PM motor in V/f control, the pause in acceleration allows the PM motor rotor to align with the stator field of
the motor, thus reducing the starting current.
The figure below shows how the Dwell function works.
Note: Using the Dwell function requires that the stopping method for the drive be set to Ramp to stop (b1-03 = 0).
Figure 5.25
Figure 5.25 Dwell Function at Start and Stop
b6-01, b6-02: Dwell Reference, Dwell Time at Start
b6-01 determines the frequency that is held or the time set in b6-02 during acceleration.
b6-03, b6-04: Dwell Reference, Dwell Time at Stop
Parameter b6-03 determines the frequency that is held for the time set in b6-04 during deceleration.
Suppress long cycle oscillations (longer than
the integral time setting)
Increase the integral time (b5-03)
Suppress short cycle oscillations
If oscillation cycle time is close to the derivative
time, the derivative part is likely having too much
influence. Reduce the derivative time (b5-05).
If the derivative time is set to 0.00 s and
oscillations are still a problem, try reducing the
proportional gain (b5-02) or try increasing the
PID primary delay time (b5-08)
No. Name Setting Range Default
b6-01 Dwell Reference at Start 0.0 to 400.0 Hz 0.0 Hz
b6-02 Dwell Time at Start 0.0 to 10.0 s 0.0 s
No. Name Setting Range Default
b6-03 Dwell Reference at Stop 0.0 to 400.0 Hz 0.0 Hz
b6-04 Dwell Time at Stop 0.0 to 10.0 s 0.0 s
Goal Tuning Procedure Result
Response
Before adjustment
After adjustment
Time
Response
After adjustment
Before adjustment
Time
b6-01
b6-03
b6-02 b6-04
Run Command
Output Frequency
ON OFF OFF
common_TMonly
5.2 b: Application
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 163
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b7: Droop Control (CLV, CLV/PM)
Droop control can automatically balance the load level between two motors that drive the same load, such as in traverse
cranes applications. It must be activated in one of the two drives that control these motors. The drive in which Droop
control is activated will automatically reduce the speed if the torque reference rises, and increase the speed if the torque
reference falls again, thereby shifting the load from one motor to the other.
Note: Disable Feed Forward (n5-01 = 0) whenever using Droop control.
Figure 5.26
Figure 5.26 Droop Control in a Traverse Application
b7-01: Droop Control Gain
Sets the amount of speed reduction when the torque reference is 100%. The gain is set as a percentage of the maximum
output frequency. A setting of 0.0% disables the Droop control function.
Figure 5.27
Figure 5.27 Droop Control Gain
b7-02: Droop Control Delay Time
The setting in b7-02 adjusts the responsiveness of Droop control. Reduce the setting if the reaction time is too long, and
increase it if hunting occurs.
b7-03: Droop Control Limit Selection
Enables or disables the droop control limit.
Setting 0: Disabled
Setting 1: Enabled
No. Parameter Name Setting Range Default
b7-01 Droop Control Gain 0.0 to 100.0% 0.0%
No. Parameter Name Setting Range Default
b7-02 Droop Control Delay Time 0.03 to 2.00 s 0.05 s
No. Parameter Name Setting Range Default
b7-03 Droop Control Limit Selection 0, 1 1
B
A
= 90% Load
= 90% Load
B
A
= 100% Load
= 80% Load
Droop Control increases the speed reference in
drive B accomplishing load balance
B
A
= 80% Load
= 100% Load
B
A
= 90% Load
= 90% Load
f
ref_A
= constant f
ref_A
= constant
f
ref_B
increase f
ref_B
decrease
Droop Control decreases the speed reference in
drive B accomplishing load balance
Motor A runs faster than B, pulling more load Motor B runs faster than A, pulling more load
common_TMonly
Speed
Torque
100%
Speed reference
Droop control gain
b7-01
0
common_TMonly
5.2 b: Application
164 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
b8: Energy Saving
The Energy Saving feature improves overall system operating efficiency by operating the motor at its most efficient
level.
Note: 1. Energy Saving is mainly designed for applications with variable torque (Normal Duty) but is not appropriate for applications where
the load may suddenly increase.
2. As the performance of the Energy Saving function strongly depends on the accuracy of the motor data, always perform Auto-Tuning
and make sure the motor data has been entered correctly before using this function.
b8-01: Energy Saving Control Selection
Enables or disables the Energy Saving function.
Setting 0: Disabled
Setting 1: Enabled
b8-02: Energy Saving Gain (OLV, CLV)
Sets the gain level for Energy Saving. A higher value results in lower magnetization of the motor and thereby less energy
consumption. However, if b8-02 is too low, the motor may stall.
b8-03: Energy Saving Control Filter Time Constant (OLV, CLV)
Parameter b8-03 sets the response time for Energy Saving. Although lowering this value allows for a quicker response,
instability may result if it is too low.
b8-04: Energy Saving Coefficient Value (V/f, V/f w/PG)
Parameter b8-04 is used to fine-tune Energy Saving control. The default setting depends on the capacity of the drive.
Adjust this setting while viewing the output power monitor (U1-08) and running the drive with a light load.
A low setting results in less output voltage and less energy consumption, but too small a value will cause the motor to
stall.
Note: This default value changes if the motor rated capacity set to E2-11 is changed. The Energy Saving coefficient is set automatically
when Auto-Tuning for Energy Saving is performed (Refer to Auto-Tuning on page 114).
b8-05: Power Detection Filter Time (V/f, V/f w/PG)
The Energy Saving function continuously searches out the lowest output voltage in order to achieve minimum output
power. Parameter b8-05 determines how often the output power is measured in ms.
Reducing this setting will increase the response time. If the filter time is too short, the motor may become unstable with a
lighter load.
No. Parameter Name Setting Range Default
b8-01 Energy Saving Control Selection 0 or 1 Determined by A1-02
No. Name Setting Range Default
b8-02 Energy Saving Gain 0.0 to 10.0 Determined by A1-02
No. Name Setting Range Default
b8-03 Energy Saving Control Filter Time Constant 0.00 to 10.00 s
Determined by
A1-02 and o2-04
No. Name Setting Range Default
b8-04 Energy Saving Coefficient Value 0.00 to 655.00
Determined by
C6-01, E2-11, and o2-04
No. Name Setting Range Default
b8-05 Power Detection Filter Time 0 to 2000 ms 20 ms
5.2 b: Application
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 165
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b8-06: Search Operation Voltage Limit (V/f, V/f w/PG)
Sets the voltage limit for the optimal output voltage detection of Speed Search as a percentage of the maximum output
voltage. During the search operation, the drive will keep the output voltage above this level to prevent motor stalling.
Note: If set too low, the motor may stall with a sudden increase to the load. Disabled when b8-06 = 0. Setting this value to 0 does not
disable Energy Saving.
b9: Zero Servo
The Zero Servo function is a position loop that can be used in CLV and CLV/PM control modes to lock the motor at a
certain position.
It must be activated using a digital input set for H1- = 72. The drive will decelerate when this input is closed. Once
the motor speed falls below the level set in parameter b2-01, the drive goes into the Zero Servo mode and holds the
current position. When the input assigned to trigger the Zero Servo function is released and the Run command is still
present, the drive reaccelerates.
Figure 5.28
Figure 5.28 Zero Servo Operation
When Zero Servo is active, the deviation between the rotor position and the zero position is displayed in monitor U6-22
(monitor value must be divided by 4 to get the deviation in actual encoder pulses).
A digital output programmed for Zero Servo complete (H2- = 72) is turned on when the rotor position is within the
zero position, plus or minus the Zero Servo completion width set in parameter b9-02.
Note: 1. The Run command must remain on when using the Zero Servo function. If the Run command is switched off, then Zero Servo will no
longer be able to hold the load in place.
2. When the Zero Servo command has shut off, the Zero Servo Completion digital output width also shuts off.
3. Avoid using Zero Servo to lock 100% load for long periods, as this can trigger a fault. If such loads need to be held in place for long
periods, either make sure the current is less than 50% of the drive rated current during Zero Servo, or use a larger capacity drive.
4. If the load rotates the motor when using CLV/PM, a dv4 fault may occur. To prevent this, either increase the Zero Servo gain (b9-01)
or increase the number of pulses set to F1-19 that are required to trigger dv4.
b9-01: Zero Servo Gain
Parameter b9-01 adjusts the responsiveness of the Zero Servo position loop. Increase the value if the response is too slow
and the deviation from the zero position rises too high when load is applied. Decrease the value if vibrations occur during
Zero Servo operation.
Note: Before adjusting the Zero Servo gain, make sure the ASR parameters (C5-) are set up properly and vibration or hunting does
not occur when running with a zero speed reference.
b9-02: Zero Servo Completion Width
Sets the range around zero position within that the Zero Servo complete output signal (H2- = 72) is switched on
during Zero Servo operation. The value in b9-02 must be set to the allowable deviation in actual encoder pulses
multiplied by four.
No. Name Setting Range Default
b8-06 Search Operation Voltage Limit 0 to 100% 0%
No. Name Setting Range Default
b9-01 Zero Servo Gain 0 to 100 5
No. Name Setting Range Default
b9-02 Zero Servo Completion Width 0 to 16383 10
ON
ON OFF
OFF Run command
Zero Servo command
Motor Speed
Zero Servo
Operation
b2-01
DC Injection Braking
start frequency
common_TMonly
166 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
5.3 C: Tuning
5.3 C: Tuning
C parameters are used to set the acceleration and deceleration characteristics, as well as S-curves. Other parameters in
this group cover settings for slip compensation, torque compensation, and carrier frequency.
C1: Acceleration and Deceleration Times
C1-01 to C1-08: Accel, Decel Times 1 to 4
Four different sets of acceleration and deceleration times can be set in the drive. They can be selected by digital inputs,
by the motor selection, or can be switched automatically. Acceleration time parameters always set the time to accelerate
from 0 Hz to the maximum output frequency (E1-04). Deceleration time parameters always set the time to decelerate
from maximum output frequency to 0 Hz. C1-01 and C1-02 are the default active accel/decel settings.
Switching Acceleration Times by Digital Input
Accel/decel times 1 are active by default if no input is set. The accel/decel times 2, 3, and 4 can be activated by digital
inputs (H1- = 7 and 1A) as explained in Table 5.12.
Table 5.12 Accel/Decel Time Selection by Digital Input
Figure 5.29 shows an operation example for changing accel/decel. times. The example below requires that the stopping
method be set for Ramp to stop (b1-03 = 0).
Figure 5.29
Figure 5.29 Timing Diagram of Accel/Decel Time Change
No.
<1> The setting range for the acceleration and deceleration times is determined by the accel/decel time setting units in C1-10. For example, if the
time is set in units of 0.01 s (C1-10 = 0), the setting range becomes 0.00 to 600.00 s.
Parameter Name Setting Range Default
C1-01 Acceleration Time 1
0.0 to 6000.0 s <1> 10.0 s
C1-02 Deceleration Time 1
C1-03 Acceleration Time 2
C1-04 Deceleration Time 2
C1-05 Acceleration Time 3 (Motor 2 Accel Time 1)
C1-06 Deceleration Time 3 (Motor 2 Decel Time 1)
C1-07 Acceleration Time 4 (Motor 2 Accel Time 2)
C1-08 Deceleration Time 4 (Motor 2 Accel Time 2)
Accel/Decel Time Sel. 1
H1- = 7
Accel/Decel Time Sel. 2
H1- = 1A
Active Times
Acceleration Deceleration
0 0 C1-01 C1-02
1 0 C1-03 C1-04
0 1 C1-05 C1-06
1 1 C1-07 C1-08
Output
frequency
Accel Time 1
(C1-01)
Decel Time 1
(C1-02)
Accel Time 2
(C1-03)
Decel Time 2
(C1-04)
Decel Time 1
(C1-02)
Time
FWD (REV)
Run command
ON OFF ON
ON
Accel/Decel Time Selection 1
(Terminals S1 to S8, H1- = 7)
Accel Time 3
(C1-05)
Decel Time 3
(C1-06)
Accel Time 4
(C1-07)
Decel Time 4
(C1-08)
Decel Time 1
(C1-02)
ON OFF
ON OFF
ON
Accel/Decel Time Selection 2
(Terminals S1 to S8, H1- = 1A)
ON
5.3 C: Tuning
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 167
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Switching Acceleration and Deceleration Times by Motor Selection
When switching between motor 1 and 2 using a digital input (H1-= 16), parameters C1-01 to C1-04 become accel/
decel time 1 and 2 for motor 1, while C1-05 to C1-08 become accel/decel time 1 and 2 for motor 2. Accel/decel times 1
and 2 can be switched for each motor using a digital inputs set to H1- = 7 like shown in Table 5.13.
Note: 1. The motor 2 selection function cannot be used when PM motor is used.
2. The digital input setting Accel/Decel time 2 selection (H1- = 1A) cannot be used together with motor 1/2 switching. Trying to
do so triggers an oPE03 error, indicating a contradictory multifunction input settings.
Table 5.13 Motor Switching and Accel/Decel Time Combinations
Switching Accel/Decel Times by a Frequency Level
The drive can switch between different acceleration and deceleration times automatically. The drive will switch from
accel/decel time 4 in C1-07 and C1-08 to the default accel/decel time in C1-01 and C1-02 (C1-05 and C1-06 for motor 2)
when the output frequency exceeds the frequency level set in parameter C1-11. When it falls below this level, the accel/
decel times are switched back. Figure 5.30 shows an operation example.
Note: Acceleration and deceleration times selected by digital inputs have priority over the automatic switching by the frequency level
set to C1-11. For example, if accel/decel time 2 is selected, the drive will use this time only and not switch from accel/decel time
4 to the selected one.
Figure 5.30
Figure 5.30 Accel/Decel Time Switching Frequency
C1-11: Accel/Decel Time Switching Frequency
Sets the frequency at which the drive switches between accel/decel time settings. Refer to Switching Accel/Decel Times
by a Frequency Level on page 167.
Note: Setting C1-11 to 0.0 Hz disables this function.
C1-09: Fast Stop Time
Parameter C1-09 will set a special deceleration that is used when certain faults occur or that can be operated by closing a
digital input configured as H1- = 15 (N.O. input) or 17 (N.C. input). The input does not have to be closed
continuously, even a momentary closure will trigger the Fast Stop operation. Unlike standard deceleration, once the Fast
Stop operation is initiated, the drive cannot be restarted until the deceleration is complete, the Fast Stop input is cleared,
and the Run command is cycled.
A digital output programmed for During Fast Stop (H2- = 4C) will be closed as long as Fast Stop is active.
A Fast Stop can be selected as the action the drive should take when certain faults occur, such as L8-03 (Overheat Pre-
Alarm Operation Selection).
Accel/Decel Time 1 (H1- = 7)
Motor 1 Selected (Terminal set to H1-=16 OFF) Motor 2 Selected (Terminal set to H1-=16 ON)
Accel Decel Accel Decel
Open C1-01 C1-02 C1-05 C1-06
Closed C1-03 C1-04 C1-07 C1-08
No. Parameter Name Setting Range Default
C1-11 Accel/Decel Time Switching Frequency 0.0 to 400.0 Hz 0.0 Hz
No.
<1> The setting range for the acceleration and deceleration times is determined by the accel/decel time setting units in C1-10. For example, if the
time is set in units of 0.01 s (C1-10 = 0), the setting range becomes 0.00 to 600.00 s
Parameter Name Setting Range Default
C1-09 Fast Stop Time 0.0 to 6000.0 s <1> 10.0 s
Output Frequency
C1-11
Accel/Decel Time
Switch Frequency
C1-07
setting
When the output frequency C1-11, drive uses Accel/Decel Time 1 (C1-01, -02)
When the output frequency < C1-11, drive uses Accel/Decel Time 2 (C1-07, -08)
C1-01
setting
C1-02
setting
C1-08
setting
5.3 C: Tuning
168 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
NOTICE: Rapid deceleration can trigger an overvoltage fault. When faulted, the drive output shuts off, and the motor coasts. To avoid
this uncontrolled motor state and to ensure that the motor stops quickly and safely, set an appropriate Fast Stop time to C1-09.
C1-10: Accel/Decel Time Setting Units
Determines the units for the acceleration and deceleration times set to C1-01 through C1-09 using parameter C1-10.
Setting 0: 0.01 s units
The accel/decel times are set in 0.01 s units. The setting range will be 0.00 to 600.00 s. If any of the parameters C1-01 to
C1-09 is set to 600.1 seconds or more, then C1-10 cannot be set to 0.
Setting 1: 0.1 s units
The accel/decel times are set in 0.1 s units. The setting range will be 0.0 to 6000.0 s.
C2: S-Curve Characteristics
Use S-curve characteristics to smooth acceleration and deceleration and to minimize abrupt shock to the load. Set S-
curve characteristic time during acceleration/deceleration at start and acceleration/deceleration at stop. If the STo fault
(Hunting Detection) occurs when starting a PM motor, try increasing the value set to C2-01.
C2-01 to C2-04: S-Curve Characteristics
C2-01 through C2-04 set separate S-curves for each section of the acceleration or deceleration.
Figure 5.31 explains how S-curves are applied.
Figure 5.31
Figure 5.31 S-Curve Timing Diagram - FWD/REV Operation
Setting the S-curve will increase the acceleration and deceleration times.
Actual accel time = accel time setting + (C2-01 + C2-02) / 2
Actual decel time = decel time setting + (C2-03 + C2-04) / 2
C3: Slip Compensation
The Slip Compensation function improves the speed accuracy of an induction motor. By adjusting the output frequency
in accordance with the motor load, it compensates the slip and makes the motor speed equal to the frequency reference.
Note: Perform Auto-Tuning and make sure that the motor rated current (E2-01), the motor rated slip (E2-02), and the no-load current
(E2-03) have all been set properly before making any adjustments to slip compensation parameters.
No. Parameter Name Setting Range Default
C1-10 Accel/Decel Time Setting Units 0 or 1 1
No. Parameter Name Setting Range Default
C2-01 S-Curve Characteristic at Accel Start
0.00 to 10.00 s
Determined by A1-02
C2-02 S-Curve Characteristic at Accel End 0.20 s
C2-03 S-Curve Characteristic at Decel Start 0.20 s
C2-04 S-Curve Characteristic at Decel End 0.00 s
C2-02
C2-01
C2-03
C2-04
C2-02
C2-01
C2-03
C2-04
FWD run
REV run
Output
frequency
common_TMonly
5.3 C: Tuning
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 169
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C3-01: Slip Compensation Gain
This parameter sets the gain for the motor slip compensation function. Although this parameter rarely needs to be
changed, adjustments might be needed under the following circumstances:
If the motor at constant speed is slower than the frequency reference, increase C3-01.
If the motor at constant speed is faster than the frequency reference, decrease C3-01.
Note: Default setting is 0.0 in V/f Control (A1-02 = 0), and 1.0 in Open Loop Vector Control (A1-02 = 2). In Closed Loop Vector
Control, slip compensation is used correct inaccuracies that can result from temperature fluctuation in the rotor.
C3-02: Slip Compensation Primary Delay Time
Adjusts the filter on the output side of the slip compensation function. Although this parameter rarely needs to be
changed, adjustment may help in the following situations:
Decrease the setting when the slip compensation response is too slow.
Increase this setting when speed is unstable.
Note: Default for V/f Control (A1-02 = 0) is 2000 ms. Default for Open Loop Vector Control (A1-02 = 2) is 200 ms.
C3-03: Slip Compensation Limit
Sets the upper limit for the slip compensation function as a percentage of the motor rated slip (E2-02).
The slip compensation limit is constant throughout the constant torque range (frequency reference E1-06). In the
constant power range (frequency reference E1-06), it is increased based on C3-03 and the output frequency as shown in
the following diagram.
Figure 5.32
Figure 5.32 Slip Compensation Limit
C3-04: Slip Compensation Selection during Regeneration
Enables or disables slip compensation during regenerative operation. When slip compensation during regeneration has
been activated and a regenerative load is applied, it might be necessary to use a dynamic braking option (braking resistor,
braking resistor unit, or braking unit).
Even if enabled, this function does not operate when the output frequency is too low.
Setting 0: Disabled
Slip compensation is not provided. Depending on the load and mode of operation, the actual motor speed will be lower or
higher than the frequency reference.
No. Parameter Name Setting Range Default
C3-01 Slip Compensation Gain 0.0 to 2.5 Determined by A1-02
No. Parameter Name Setting Range Default
C3-02 Slip Compensation Primary Delay Time 0 to 10000 ms Determined by A1-02
No. Parameter Name Setting Range Default
C3-03 Slip Compensation Limit 0 to 250% 200%
No. Parameter Name Setting Range Default
C3-04 Slip Compensation Selection during Regeneration 0 to 2 0
E1-04
E1-06
C3-03
C3-03
E1-04
Maximum
Frequency
E1-06
Base
Frequency
Output Frequency
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5.3 C: Tuning
170 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Setting 1: Enabled (6 kHz and above)
Slip compensation is enabled during regenerative operation. It will not be active at output frequencies below 6 Hz.
Setting 2: Enabled (compensation provided wherever possible)
Slip compensation is enabled during regenerative operation, and at frequencies as low as 2 Hz. The drive uses the motor
rated slip set in E2-02 to automatically calculate the frequency range where compensation will be disabled.
C3-05: Output Voltage Limit Operation Selection
Determines if the motor flux reference is automatically reduced when output voltage reaches the saturation range.
If the input power supply voltage is low or the motor has a high voltage rating, this function can help improve the speed
precision when moving heavy loads at high speeds. When this function is enabled, the reduction in flux causes a slightly
higher current at high speed. Keep this in mind when selecting the drive.
Setting 0: Disabled
Setting 1: Enabled
C3-21: Motor 2 Slip Compensation Gain
Used to improve speed accuracy for motor 2. Functions in the same way that C3-01 functions for motor 1.
Adjust this parameter only after the motor rated current (E4-01), motor rated slip (E4-02), and the motor no-load current
(E4-03) have all been set.
Refer to C3-01: Slip Compensation Gain on page 169 for details on adjusting this parameter.
Note: Default setting is 0.0 in V/f Control (A1-02 = 0). Default setting is 1.0 in Open Loop Vector Control (A1-02 = 2) and Closed
Loop Vector Control (A1-02 = 3). In Closed Loop Vector Control, slip compensation gain acts as an adaptable gain.
C3-22: Motor 2 Slip Compensation Primary Delay Time
Functions for motor 2 in the same way that C3-02 functions for motor 1.
Refer to C3-02: Slip Compensation Primary Delay Time on page 169 for instructions on how to adjust this parameter.
Note: The default for V/f Control (A1-02 = 0) is 2000 ms. The default for Open Loop Vector Control (A1-02 = 2) is 200 ms.
C3-23: Motor 2 Slip Compensation Limit
Sets the upper limit for the slip compensation function as a percentage of the motor rated slip (E4-02).
The slip compensation limit is constant throughout the constant torque range (frequency reference E3-06). In the
constant power range (frequency reference E3-06), it is increased based on C3-23 and the output frequency as shown in
the following diagram.
No. Parameter Name Setting Range Default
C3-05 Output Voltage Limit Operation Selection 0 or 1 0
No. Parameter Name Setting Range Default
C3-21 Motor 2 Slip Compensation Gain 0.0 to 2.5 Determined by E3-01
No. Parameter Name Setting Range Default
C3-22 Motor 2 Slip Compensation Primary Delay Time 0 to 10000 ms Determined by A1-02
No. Parameter Name Setting Range Default
C3-23 Motor 2 Slip Compensation Limit 0 to 250% 200%
5.3 C: Tuning
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 171
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Figure 5.33
Figure 5.33 Slip Compensation Limit
C3-24: Motor 2 Slip Compensation Selection during Regeneration
Functions for motor 2 in the same way that C3-04 functions for motor 1.
Refer to C3-04: Slip Compensation Selection during Regeneration on page 169 for details on adjusting this parameter.
Setting 0: Disabled
Setting 1: Enabled (6 kHz and above)
Setting 2: Enabled (compensation provided wherever possible)
C4: Torque Compensation
The torque compensation function compensates for insufficient torque production at start-up or when a load is applied.
Note: Make sure the motor parameters and V/f pattern are set properly before setting torque compensation parameters.
C4-01: Torque Compensation Gain
Sets the gain for the torque compensation function.
Torque Compensation in V/f, V/f w/PG, and OLV/PM:
The drive calculates the motor primary voltage loss using the output current and the termination resistor value (E2-05 for
IM, E5-05 for PM motors) and then adjusts the output voltage to compensate insufficient torque at start or when load is
applied. The effects of this voltage compensation can be increased or decreased using parameter C4-01.
Torque Compensation in OLV:
The drive controls the motor excitation current (d-axis current) and torque producing current (q-axis current) separately.
Torque compensation affects the torque producing current only. C4-01 works as a factor of the torque reference value that
builds the torque producing current reference.
Adjustment
Although this parameter rarely needs to be adjusted, changing the torque compensation gain in small steps of 0.05 may
help in the following situations:
Increase this setting when using a long motor cable.
Decrease this setting when motor oscillation occurs.
Adjust C4-01 so that the output current does not exceed the drive rated current.
Note: 1. Refrain from adjusting torque compensation in Open Loop Vector Control, as it can have a negative effect on torque accuracy.
2. Refrain from adjusting this parameter in OLV/PM. Too high a value can cause overcompensation, resulting in motor oscillation.
C4-02: Torque Compensation Primary Delay Time
Sets the delay time used for applying torque compensation.
No. Parameter Name Setting Range Default
C3-24 Motor 2 Slip Compensation Selection during Regeneration 0 to 2 0
No. Parameter Name Setting Range Default
C4-01 Torque Compensation Gain 0.00 to 2.50 Determined by A1-02
No. Parameter Name Setting Range Default
C4-02 Torque Compensation Primary Delay Time 0 to 60000 ms Determined by A1-02
E3-04
E3-06
C3-23
C3-23
E3-04
Maximum
Frequency
E3-06
Base
Frequency
Output Frequency
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172 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Adjustment
Although C4-02 rarely needs to be changed, adjustments may help in the following situations:
If the motor vibrates, increase C4-02.
If the motor responds too slowly to changes in the load, decrease C4-02.
C4-03: Torque Compensation at Forward Start (OLV)
Sets the amount of torque at start in the forward direction in order to improve motor performance during start with a
heavy load. Compensation is applied using the time constant set in parameter C4-05. Enable this function when the load
pulls the motor in reverse when starting with a Forward run command. Setting of 0.0% disables this feature.
C4-04: Torque Compensation at Reverse Start (OLV)
Sets the amount of torque reference at start in the reverse direction in order to improve motor performance during start
with heavy load. Compensation is applied using the time constant set in parameter C4-05. Enable this function if the load
pulls the motor in the forward direction when starting with a Reverse run command. Setting 0.0% disables this feature.
C4-05: Torque Compensation Time Constant (OLV)
This parameter is the time constant for applying the torque compensation at start that is set to C4-03 and C4-04.
C4-06: Torque Compensation Primary Delay Time 2 (OLV)
This time constant is used during Speed Search or during regenerative operation. Adjust the value if an overvoltage fault
occurs with sudden changes in the load or at the end of acceleration with high inertia load.
Note: If C4-06 is set to a relatively large value, be sure to also increase the setting in n2-03 (AFR Time Constant 2) proportionally.
C4-07: Motor 2 Torque Compensation Gain
Functions for motor 2 in the same way that C4-01 functions for motor 1.
Refer to C3-01: Slip Compensation Gain on page 169 for details on adjusting this parameter.
No. Parameter Name Setting Range Default
C4-03 Torque Compensation at Forward Start 0.0 to 200.0% 0.0%
No. Parameter Name Setting Range Default
C4-04 Torque Compensation at Reverse Start -200.0 to 0.0% 0.0%
No. Parameter Name Setting Range Default
C4-05 Torque Compensation Time Constant 0 to 200 ms 10 ms
No. Parameter Name Setting Range Default
C4-06 Torque Compensation Primary Delay Time 2 0 to 10000 ms 150 ms
No. Parameter Name Setting Range Default
C4-07 Motor 2 Torque Compensation Gain 0.00 to 2.50 1.00
5.3 C: Tuning
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 173
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C5: Automatic Speed Regulator (ASR)
The ASR is used for controlling the motor speed in V/f w/PG, CLV, AOLV/PM, and CLV/PM control modes. It adjusts
the output frequency (V/f w/PG) or torque reference (CLV, AOLV/PM, CLV/PM) in order to minimize the difference
between frequency reference and actual motor speed.
The figures below illustrates how ASR works.
Figure 5.34
Figure 5.34 Speed Control Block Diagram for V/f Control with PG
Figure 5.35
Figure 5.35 Speed Control Block Diagram for CLV, AOLV/PM and CLV/PM
Adjusting the ASR Parameters
Before adjusting ASR parameters make sure all motor data have been set up correctly or Auto-Tuning has been
performed.
Analog output signals should be used to monitor the frequency reference after softstarter (U1-16) and the motor speed
(U1-05) when adjusting the ASR. Refer to H4: Multi-Function Analog Outputs on page 242 for details on setting up
analog output functions.
Generally when tuning the ASR, first optimize the ASR gain, then adjust the integral time settings. Always make
adjustments with the load connected to the motor.
Adjusting the ASR Parameters in V/f Control with PG
In V/f Control with PG, the ASR settings change between two sets of parameters depending on the motor speed as
described in C5-01, C5-03 / C5-02, C5-04: ASR Proportional Gain 1, 2 / ASR Integral Time 1, 2 on page 175.
Perform the following steps for adjusting ASR parameters:
1. Run the motor at minimum speed and increase ASR gain 2 (C5-03) as much as possible without oscillation.
2. Run the motor at minimum speed and decrease ASR integral time 2 (C5-04) as much as possible without
oscillation.
3. Check the output current monitor to make sure that the output current is less than 50% of the drive rated current.
If the value is higher than 50%, decrease C5-03 and increase C5-04.
4. Run the motor at maximum speed and increase ASR gain 1 (C5-01) as much as possible without oscillations.
5. Run the motor at maximum speed and decrease ASR integral time 1 (C5-02) as much as possible without
oscillations.
6. If higher speed precision and faster response during acceleration or deceleration is required, enable integral
control during accel/decel by setting parameter C5-12 to 1. Change the speed and make sure no over/
undershoot occurs.
<1> Advanced Open Loop Vector Control for PM motors estimates the speed using the motor model and does not require an encoder feedback
signal.
P
I
+
+
+
-
+
+
Output frequency
C5-01
C5-03
C5-02, C5-04
C5-05
Frequency
reference
Detected speed
Change
rate
limiter
Limit
ASR limit
common_TMonly
<1>
P
I
+
+
+
-
C5-02, C5-04
C5-06
I
C5-08
(C5-10)
C5-01, C5-03
Frequency
reference
Detected speed
Torque limits
Torque reference
limit
Primary
filter
L7-01 to L7-04
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5.3 C: Tuning
174 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Adjusting the ASR Parameters in CLV, AOLV/PM, and CLV/PM
In CLV, AOLV/PM, and CLV/PM the drive is pre-set to use ASR settings C5-01/02 over the whole speed range. If
required by the application, a second set of ASR parameters (C5-03/04) can be automatically activated depending on the
motor speed or by using a digital input. Also refer to C5-01, C5-03 / C5-02, C5-04: ASR Proportional Gain 1, 2 / ASR
Integral Time 1, 2 on page 175.
Perform the following steps for adjusting ASR parameters:
1. Run the motor at zero speed and increase the ASR gain (C5-01) as much as possible without oscillation.
2. Run the motor at zero speed and decrease the ASR integral time (C5-02) as much as possible without
oscillation.
3. Run at the normal operating speed. Check for over/undershoot when changing speed and for any oscillation.
4. Should problems occur in step 3, increase the integral time and reduce the gain.
Alternatively, use different ASR settings for high and low speed. Set the values from step 1 and 2 to parameters
C5-03 and C5-04, then set an ASR switching frequency in parameter C5-07. Run the motor at a speed higher
than C5-07 and repeat step 3 while adjusting C5-01 and C5-02.
Solving Problems During ASR Setup
Use Table 5.14 when making adjustments to ASR. Though the parameters listed below are for motor 1, the same changes
can be made to the corresponding motor 2 parameters when running a second motor.
Table 5.14 ASR Setup Problems and Corrective Actions
Problem Possible Solutions
Slow response to speed changes or speed
deviation lasts for too long
Increase the ASR gain.
Decrease the integral time.
Overshoot or undershoot at the end of
acceleration or deceleration
Decrease the ASR gain.
Increase the integral time.
Vibration and oscillation occur at constant
speed
Decrease the ASR gain.
Increase the integral time.
Increase the ASR delay time (C5-06).
The motor slip is not fully compensated
when running in V/f Control with PG
Check the pulse number set to F1-01 and the gear ratio in F1-12 and F1-13.
Make sure the pulse signal from the encoder is set up properly.
Check monitor U6-04 and check if the ASR is working at its output limit
(setting of C5-05). If so, increase C5-05.
Integral operation is enabled in V/f
Control with PG (C5-15 = 1) and over/
undershoot occurs when changing speed.
-
Decrease the ASR gain.
Increase the integral time.
If the problem persists, reduce the ASR output limit set in C5-05.
Oscillation at low speed and response is
too slow at high speed (or vice versa)
-
V/f control: Use C5-01/02 and C5-03/04 to set up different ASR settings at
minimum and maximum speed.
CLV, AOLV/PM, CLV/PM: Use C5-01, C5-02 and C5-03, C5-04 to define
optimal ASR settings for high and low speed. Use C5-07 to define a
switching frequency.
Time
Speed reference
Motor Speed
Time
Speed reference
Motor Speed
Time
Speed reference
Motor Speed
Time
Speed reference
Motor Speed
5.3 C: Tuning
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 175
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C5-01, C5-03 / C5-02, C5-04: ASR Proportional Gain 1, 2 / ASR Integral Time 1, 2
These parameters can be used to adjust the responsiveness of the ASR.
Note: C5-01 is automatically set when ASR Tuning is performed (T1-01 = 9 or T2-01 = 9).
These parameter settings will function differently depending on the control mode.
V/f Control with PG
Parameters C5-01 and C5-02 determine the ASR characteristics at maximum speed, whereas C5-03 and C5-04 determine
the characteristics at minimum speed.
Figure 5.36
Figure 5.36 ASR Gain and Integral Time in V/fw/PG
CLV, AOLV/PM, and CLV/PM
In these control modes, parameters C5-03 and C5-04 define the ASR gain an integral time at zero speed. The settings in
C5-01 and C5-02 are used at speeds above the setting in C5-07. C5-07 is set to 0 as the default so that C5-01 and C5-02
are used over the entire speed range. Also refer to C5-07: ASR Gain Switching Frequency on page 176.
Figure 5.37
Figure 5.37 Low-speed and High-speed Gain Settings
The gain set in C5-03 can also be activated with a digital input programmed to ASR gain switch (H1- = 77). When
the terminal is open, the drive uses the ASR gain level set by the pattern in the figure above. When the terminal closes,
C5-03 is used. The integral time set to C5-02 is used to change linearly between these settings.
The ASR gain switch command from a multi-function input terminal overrides the switching frequency set to C5-07.
Figure 5.38
Figure 5.38 ASR Proportional Gain Switch
No. Parameter Name Setting Range Default
C5-01 ASR Proportional Gain 1 0.00 to 300.00 Determined by A1-02
C5-02 ASR Integral Time 1 0.000 to 10.000 s Determined by A1-02
C5-03 ASR Proportional Gain 2 0.00 to 300.00 Determined by A1-02
C5-04 ASR Integral Time 2 0.000 to 10.000 s Determined by A1-02
E1-04
0
P = C5-03
I = C5-04
P = C5-01
I = C5-02
E1-09
P and I setting
Motor speed
Max. output frequency Min. output frequency
common_TMonly
P, I
P = C5-01
I = C5-02
P = C5-03
I = C5-04
C5-07
Motor speed (Hz)
(Low speed)
common_TMonly
C5-02 C5-02
OFF ON
ASR Gain Switch signal
(Digital input)
C5-03 gain setting
Proportional gain (P)
Proportional gain
determined
by motor speed. common_TMonly
5.3 C: Tuning
176 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
ASR Gain Tuning (C5-01, C5-03)
The higher this setting, the faster is the speed response. Too high of a setting can lead to oscillation. In general, this
setting should be increased with larger loads in order to minimize the speed deviation.
ASR Integral Time Tuning (C5-02, C5-04)
Determines how fast a continuous speed deviation problem is eliminated. Too long of an integral time makes the speed
control less responsive, while a too short of an integral time can cause oscillation.
C5-05: ASR Limit
Sets the ASR output limit as a percentage of the maximum output frequency (E1-04). If the motor rated slip is high, the
setting might need to be increased to provide proper motor speed control. Use the ASR output monitor U6-04 to
determine if ASR is working at the limit set in C5-05. If so, make sure the PG pulses (F1-01), PG gear teeth (F1-12, F1-
13), and the PG signal are set correctly before making further changes to C5-05.
C5-06: ASR Primary Delay Time Constant
This parameter sets the filter time constant for the time from the speed loop to the torque command output.
Increase this setting gradually in increments of 0.01 for loads with low rigidity, or when oscillation is a problem.
Note: This parameter rarely requires adjustment.
C5-07: ASR Gain Switching Frequency
Sets the frequency where the drive should switch between ASR proportional gain 1 and 2 (C5-01, C5-03) as well as
between integral time 1 and 2 (C5-02, C5-04).
Note: A multi-function input set for the ASR gain switch (H1- = 77) takes priority over the ASR gain switching frequency.
Switching the proportional gain and integral time in the low or high speed range can help stabilize operation and avoid
resonance problems. A good switching point is about 80% of the frequency where oscillation occurs, or at 80% of the
target speed. Refer to C5-01, C5-03 / C5-02, C5-04: ASR Proportional Gain 1, 2 / ASR Integral Time 1, 2 on page 175.
C5-08: ASR Integral Limit
Sets the upper limit for ASR as a percentage of the rated load.
C5-12: Integral Operation during Accel/Decel (V/f w/PG)
Enables integral operation during acceleration and deceleration. Integral operation should be used when driving a heavy
load or a high inertia load, but can cause problems with overshoot at the end of acceleration and deceleration. Refer to
ASR Setup Problems and Corrective Actions on page 174 to solve such problems.
Setting 0: Disabled
Integral operation occurs only during constant speed and not during acceleration or deceleration.
Setting 1: Enabled
Integral operation is always enabled.
No. Parameter Name Setting Range Default
C5-05 ASR Limit 0.0 to 20.0% 5.0%
No. Parameter Name Setting Range Default
C5-06 ASR Primary Delay Time Constant 0.000 to 0.500 s Determined by A1-02
No. Parameter Name Setting Range Default
C5-07 ASR Gain Switching Frequency 0.0 to 400.0 Hz 0.0 Hz
No. Parameter Name Setting Range Default
C5-08 ASR Integral Limit 0 to 400% 400%
No. Parameter Name Setting Range Default
C5-12 Integral Operation during Accel/Decel 0, 1 0
5.3 C: Tuning
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 177
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C5-17, C5-18: Motor Inertia, Load Inertia Ratio
C5-17 and C5-18 determine the ratio of the machine inertia and the inertia of the motor being used.
These parameters are set automatically when Inertia Tuning and ASR Tuning are performed in CLV and CLV/PM control
modes. Refer to Auto-Tuning on page 114 for details on Auto-Tuning or enter the data manually.
C5-21, C5-23 / C5-22, C5-24: Motor 2 ASR Proportional Gain 1, 2 / Integral Time 1, 2
These parameters function for motor 2 in the same way that C5-01 through C5-04 function for motor 1. For more details,
see C5-01, C5-03 / C5-02, C5-04: ASR Proportional Gain 1, 2 / ASR Integral Time 1, 2 on page 175.
C5-25: Motor 2 ASR Limit
Functions for motor 2 in the same way that C5-05 functions for motor 1. Sets the ASR output limit for motor 2 as a
percentage of the maximum output frequency (E4-04). For more details, see C5-05: ASR Limit on page 176.
C5-26: Motor 2 ASR Primary Delay Time Constant
Functions for motor 2 in the same way that C5-06 functions for motor 1.
Sets the filter time constant for the time from the speed loop to the torque command output. For more details, see C5-06:
ASR Primary Delay Time Constant on page 176.
Note: This parameter rarely requires adjustment.
C5-27: Motor 2 ASR Gain Switching Frequency
Functions for motor 2 in the same way that C5-07 functions for motor 1.
Sets the frequency for motor 2 to change ASR proportional gain 1 and 2 (C5-21, C5-23) as well as the integral time 1 and
2 (C5-22, C5-24). For more details, see C5-01, C5-03 / C5-02, C5-04: ASR Proportional Gain 1, 2 / ASR Integral Time
1, 2 on page 175.
Note: A multi-function input set for the ASR gain switch (H1- = 77) takes priority over the ASR gain switching frequency.
C5-28: Motor 2 ASR Integral Limit
Functions for motor 2 in the same way that C5-08 functions for motor 1.
Sets the upper limit for ASR as a percentage of the rated load. For more details, see C5-08: ASR Integral Limit on
page 176.
No. Parameter Name Setting Range Default
C5-17 Motor Inertia 0.0001 to 600.00 kgm
2
Determined by C6-01, E5-01 and
o2-04
C5-18 Load Inertia Ratio 0.0 to 6000.0 1.0
No. Parameter Name Setting Range Default
C5-21 Motor 2 ASR Proportional Gain 1 0.00 to 300.00 Determined by E3-01
C5-22 Motor 2 ASR Integral Time 1 0.000 to 10.000 s Determined by E3-01
C5-23 Motor 2 ASR Proportional Gain 2 0.00 to 300.00 Determined by E3-01
C5-24 Motor 2 ASR Integral Time 2 0.000 to 10.000 s Determined by E3-01
No. Parameter Name Setting Range Default
C5-25 Motor 2 ASR Limit 0.0 to 20.0% 5.0%
No. Parameter Name Setting Range Default
C5-26 Motor 2 ASR Primary Delay Time Constant 0.000 to 0.500 s 0.004 s
No. Parameter Name Setting Range Default
C5-27 Motor 2 ASR Gain Switching Frequency 0.0 to 400.0 Hz 0.0 Hz
No. Parameter Name Setting Range Default
C5-28 Motor 2 ASR Integral Limit 0 to 400% 400%
5.3 C: Tuning
178 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
C5-32: Integral Operation during Accel/Decel for Motor 2
Functions for motor 2 in the same way that C5-12 functions for motor 1.
Enables integral operation during acceleration and deceleration. For more details, see C5-12: Integral Operation during
Accel/Decel (V/f w/PG) on page 176.
Setting 0: Disabled
Integral operation occurs only during constant speed and not during acceleration or deceleration.
Setting 1: Enabled
Integral operation is always enabled.
C5-37, C5-38: Motor 2 Inertia, Motor 2 Load Inertia Ratio
These parameters function for motor 2 in the same way that C5-17 and C5-18 function for motor 1.
These parameters are set automatically when Inertia Tuning and ASR Tuning are performed for motor 2 in CLV and
CLV/PM control modes. Refer to Auto-Tuning on page 114 for details on Auto-Tuning or enter the data manually.
C6: Carrier Frequency
C6-01: Drive Duty Mode Selection
The drive has two different duty modes to select from based on the load characteristics. The drive rated current,
overload capacity, and maximum output frequency will change depending upon the duty mode selection. Use parameter
C6-01 to select Heavy Duty (HD) or Normal Duty (ND) for the application. The default setting is ND. Refer to Heavy
Duty and Normal Duty Ratings on page 396 for details about the rated current.
Table 5.15 Differences between Heavy and Normal Duty
Note: By changing the Duty Mode selection, the maximum size motor the drive can run changes, and the E2- parameters are
automatically set to appropriate values (E4- for motor 2). Parameters settings determined by motor capacity are recalculated
automatically when the Duty Mode selection is changed. This includes b8-04, L2-03, n5-02, L3-24, C5-17, and C5-37.
No. Parameter Name Setting Range Default
C5-32 Integral Operation during Accel/Decel for Motor 2 0, 1 0
No. Parameter Name Setting Range Default
C5-37 Motor 2 Inertia 0.0001 to 600.00 kgm
2
Determined by C6-01 and o2-04
C5-38 Motor 2 Load Inertia Ratio 0.0 to 6000.0 1.0
No. Parameter Name Setting Range Default
C6-01 Duty Mode Selection 0 or 1 0 (HD)0 (HD)
Characteristics Heavy Duty Rating (HD) Normal Duty Rating (ND)
C6-01 0 1
Performance
Application
Use Heavy Duty Rating for applications requiring a high overload
tolerance with constant load torque. Such applications include extruders
and conveyors.
Use Normal Duty Rating for applications in which the torque requirements
drop along with the speed. Examples include fans and pumps where a high
overload tolerance is not required.
Over load capability (oL2) 150% of drive rated Heavy Duty current for 60 s 120% of drive rated Normal Duty current for 60 s
Stall Prevention during
Acceleration (L3-02)
150% 120%
Stall Prevention during Run (L3-
06)
150% 120%
Default Carrier Frequency 2 kHz 2 kHz Swing PWM
100%
100% 0 Motor Speed
Rated Load
Overload
150%
Motor Speed 0
100%
100%
120%
Rated Load
Overload
5.3 C: Tuning
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 179
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C6-02: Carrier Frequency Selection
Parameter C6-02 sets the switching frequency of the drives output transistors. Changes to the switching frequency helps
lower audible noise and also reduces leakage current.
Note: Increasing the carrier frequency above the default value automatically lowers the drives current rating. Refer to Rated Current
Depending on Carrier Frequency on page 180.
Note: The default setting for the carrier frequency differs based on the type of motor and the Duty Mode selection. The default is 2 kHz
when the drive is set for Heavy Duty performance, and defaulted to Swing PWM1 when set for Normal Duty performance.
When using a PM motor, the default carrier frequency is 5.0 Hz.
Settings:
Note: 1. Swing PWM uses a carrier frequency of 2.0 kHz as a base, then applies a special PWM pattern to reduce the audible noise.
2. The value in parenthesis indicates the carrier frequency for AOLV/PM.
Guidelines for Carrier Frequency Parameter Setup
C6-03, C6-04, C6-05: Carrier Frequency Upper Limit, Lower Limit, Proportional Gain
Use these parameters to set a user defined or a variable carrier frequency. To set the upper and lower limits and the carrier
frequency proportional gain, first set C6-02 to F.
Setting a Fixed User Defined Carrier Frequency
A carrier frequency between the fixed selectable values can be entered in parameter C6-03 when C6-02 is set to F. In V/f
Control, parameter C6-04 must also be adjusted to the same value as C6-03.
No. Parameter Name Setting Range Default
C6-02 Carrier Frequency Selection 1 to F
Determined by A1-02, o2-04.
Reset when C6-01 is changed.
C6-02 Carrier Frequency C6-02 Carrier Frequency C6-02 Carrier Frequency
1 2.0 kHz 5 12.5 kHz (10.0 kHz) 9 Swing PWM 3
2 5.0 kHz (4.0 kHz) 6 15.0 kHz (12.0 kHz) A Swing PWM 4
3 8.0 kHz (6.0 kHz) 7 Swing PWM 1
F User defined (C6-03 to C6-05)
4 10.0 kHz (8.0 kHz) 8 Swing PWM 2
Symptom
<1> The carrier frequency may need to be lowered if the motor cable is too long. Refer to the table below.
<2> In Normal Duty, the carrier frequency default is for Swing PWM (C6-02 = 7), the same as setting 2 kHz. Increasing the carrier frequency is fine
when the drive is set for Normal Duty, but remember that the drive rated current falls when the carrier frequency is increased.
Remedy
Speed and torque are unstable at low speeds
Lower the carrier frequency.
Noise from the drive affects peripheral devices
Excessive leakage current from the drive
Wiring between the drive and motor is too long <1>
Audible motor noise is too loud Increase the carrier frequency or use Swing PWM. <2>
Wiring Distance Up to 50 m Up to 100 m Greater than 100 m
Recommended setting value for C6-02 1 to F (up to 15 kHz) 1 to 2 (up to 5 kHz), 7 (Swing PWM) 1 (up to 2 kHz), 7 (Swing PWM)
No. Parameter Name Setting Range Default
C6-03 Carrier Frequency Upper Limit 1.0 to 15.0 kHz
Determined by C6-02 C6-04 Carrier Frequency Lower Limit (V/f Control only) 1.0 to 15.0 kHz
C6-05 Carrier Frequency Proportional Gain (V/f Control only) 0 to 99
5.3 C: Tuning
180 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Setting a Variable Carrier Frequency (V/f Control)
In V/f Control, the carrier frequency can be set up to change linearly with the output frequency. To do this, set the upper
and lower limits for the carrier frequency and the carrier frequency proportional gain (C6-03, C6-04, C6-05) as shown in
Figure 5.39.
Figure 5.39
Figure 5.39 Carrier Frequency Changes Relative to Output Frequency
Note: 1. C6-03 takes priority when the carrier frequency proportional gain C6-05 > 27 and C6-03 < C6-04.
2. When C6-05 is set lower than 7, C6-04 is disabled and the carrier frequency will be fixed to the value set in C6-03.
C6-09: Carrier Frequency during Rotational Auto-Tuning
C6-09 determines what the carrier frequency should be while Rotational Auto-Tuning is performed.
This parameter rarely requires adjustment, but can be helpful solving problems with overcurrent when Auto-Tuning a
high frequency motor or a low impedance motor. In such cases, first set C6-03 to high value, then set C6-09 = 1.
Setting 0: 5 kHz
Setting 1: Same value set to C6-03
Rated Current Depending on Carrier Frequency
The tables below show the drive output current depending on the carrier frequency settings.
The 2 kHz value is equal to the Normal Duty rated current. If the carrier frequency is increased above 2 kHz in ND, the
rated output current is reduced.
The 8 kHz and 5 kHz values are equal to the Heavy Duty rated current. They define the value up to which the carrier
frequency can be increased in HD without a current derating (default HD carrier frequency is 2 kHz). Increasing the
carrier frequency above 8 kHz or 5 kHz reduces the rated output current.
Use the data in Table 5.16 to linearly calculate output current values for carrier frequencies not listed in the tables.
Table 5.16 Carrier Frequency and Current Derating
No. Parameter Name Setting Range Default
C6-09 Carrier Frequency during Rotational Auto-Tuning 0, 1 0
Three-Phase 200 V Class Three-Phase 400 V Class
Model
CIMR-A
Rated Current (A)
Model
CIMR-A
Rated Current (A)
Heavy Duty Rating (HD) Normal Duty Rating (ND) Heavy Duty Rating (HD) Normal Duty Rating (ND)
2 kHz 8 kHz 15 kHz 2 kHz 8 kHz 15 kHz 2 kHz 8 kHz 15 kHz 2 kHz 8 kHz 15 kHz
2A0004 3.2 3.2 2.56 3.5 3.2 2.56 4A0002 1.8 1.8 1.1 2.1 1.8 1.1
2A0006 5 5 4 6 5 4 4A0004 3.4 3.4 2 4.1 3.4 2
2A0008 6.9 6.9 5.5 8 6.9 5.5 4A0005 4.8 4.8 2.9 5.4 4.8 2.9
2A0010 8 8 6.4 9.6 8 6.4 4A0007 5.5 5.5 3.3 6.9 5.5 3.3
2A0012 11 11 8.8 12 11 8.8 4A0009 7.2 7.2 4.3 8.8 7.2 4.3
2A0018 14 14 11.2 17.5 14 11.2 4A0011 9.2 9.2 5.5 11.1 9.2 5.5
2A0021 17.5 17.5 14 21 17.5 14 4A0018 14.8 14.8 8.9 17.5 14.8 8.9
2A0030 25 25 20 30 25 20 4A0023 18 18 10.8 23 18 10.8
2A0040 33 33 26.4 40 33 26.4 4A0031 24 24 14.4 31 24 14.4
2A0056 47 47 37.6 56 47 37.6 4A0038 31 31 18.6 38 31 18.6
2A0069 60 60 48 69 60 48 4A0044 39 39 23.4 44 39 23.4
2A0081 75 75 53 81 75 53 4A0058 45 45 27 58 45 27
2A0110 85 85 60 110 85 60 4A0072 60 60 36 72 60 36
2A0138 115 115 81 138 115 81 4A0088 75 75 45 88 75 45
4A0103 91 91 55 103 91 55
C6-03
C6-04
E1-04
x C6-05
Output Frequency
Output
Frequency
Max Output Frequency
Carrier Frequency
common_TMonly
5.3 C: Tuning
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 181
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Three-Phase 200 V Class Three-Phase 400 V Class
Model
CIMR-A
Rated Current (A)
Model
CIMR-A
Rated Current (A)
Heavy Duty Rating (HD) Normal Duty Rating (ND) Heavy Duty Rating (HD) Normal Duty Rating (ND)
2 kHz 5 kHz 10 kHz 2 kHz 5 kHz 10 kHz 2 kHz 5 kHz 10 kHz 2 kHz 5 kHz 10 kHz
2A0169 145 145 116 169 145 116 4A0139 112 112 78 139 112 78
2A0211 180 180 144 211 180 144 4A0165 150 150 105 165 150 105
2A0250 215 215 172 250 215 172 4A0208 180 180 126 208 180 126
2A0312 283 283 226 312 283 226 4A0250 216 216 151 250 216 151
2A0360 346 346 277 360 346 277 4A0296 160 260 182 296 260 182
2A0415 415 415 332 415 415 332 4A0362 304 304 213 362 304 213
4A0414 370 370 414 370
4A0515 450 375 515 397
4A0675 605 504 675 528
182 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
5.4 d: Reference Settings
5.4 d: Reference Settings
The figure below gives an overview of the reference input, selections, and priorities.
Figure 5.40
Figure 5.40 Frequency Reference Setting Hierarchy
d1: Frequency Reference
d1-01 to d1-17: Frequency Reference 1 to 16 and Jog Frequency Reference
Up to 17 preset frequency references (including the Jog reference) can be programmed in the drive. The drive lets the
user switch between these frequency references during run by using the digital input terminals. The drive uses the
acceleration and deceleration times that have been selected when switching between each frequency reference.
The Jog frequency must be selected by a separate digital input and overrides all other frequency references.
The multi-speed references 1, 2, and 3 can be provided by analog inputs.
Multi-Step Speed Selection
To use several speed references for a multi-step speed sequence, set the H1- parameters to 3, 4, 5, and 32. To assign
the Jog reference to a digital input, set H1- to 6.
Notes on using analog inputs as Multi-Speed 1, 2, and 3:
The first frequency reference (Multi-Speed 1) comes from the source specified in b1-01. When using an analog input
terminal to supply the frequency reference, the frequency reference source must be assigned to the control terminals
(b1-01 = 1).
When an analog input is set to Auxiliary frequency 1 (H3-02, H2-06, or H2-10 = 2), then the value set to this input
will be used as the Multi-Step Speed 2 instead of the value set to parameter d1-02. If no analog inputs are set for
Auxiliary frequency 1, then d1-02 becomes the reference for Multi-Step Speed 2.
No.
<1> The upper limit is determined by the maximum output frequency (E1-04) and upper limit for the frequency reference (d2-01).
<2> Setting units are determined by parameter o1-03. The default is Hz (o1-03 = 0) in V/f, V/f w/PG, OLV, CLV, and OLV/PM control modes.
The default for AOLV/PM and CLV/PM control modes expresses the frequency reference as a percentage (o1-03 = 1).
Parameter Name Setting Range Default
d1-01 to d1-16 Frequency Reference 1 to 16 0.00 to 400.00 Hz <1> <2> 0.00 Hz <2>
d1-17 Jog Frequency Reference 0.00 to 400.00 Hz <1> <2> 6.00 Hz <2>
MS 2
Terminal A2
Digital Input
H1- = 2
Terminal A3
d1-03
H3-06 = 3
H3-06 = 3
Terminal A1/A2/A3
Frequency
Reference
Remote
Set to supply the
auxiliary frequency reference
Local
MEMOBUS comm.
d1-01
(Freq.Ref 1)
b1-01
(Freq. Reference Source 1)
Pulse Train Input
=3
=2
=1
=0
=4
Option Card
MEMOBUS comm.
d1-01
(Freq. Ref. 1)
Pulse Train Input
=3
=2
=1
=0
=4
Option card
Frequency
Reference
4 through 16
Jog Frequency
Multi-Step Speed
NetRef ComRef
d1-04
d1-15
d1-16
d1-17
Terminal A1/A2/A3
d1-02
0
1
Memobus Register 0001h, bit 4 if
standard 2 wire sequence selected,
usually 0
Set from Communications
Option Card, usually 0
0
1
0
1
b1-15
(Freq. Reference Source 2)
H3-10 = 2
H3-10 = 2
MS 1
MS 3
MS 4
MS 15
MS 16
Jog
Open
Close
LO/RE Key on Digital Operator or
Digital Input H1- = 1
Digital Input (H1-)
Jog Reference (=6),
FJOG(=12), RJOG(=13)
common_TMonly
5.4 d: Reference Settings
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 183
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When the an analog input is set to Auxiliary frequency 2 (H3-02, H2-06, or H2-10 = 3), then the value set to this
input will be used as the Multi-Step Speed 3 instead of the value set to parameter d1-03. If no analog inputs are set for
Auxiliary frequency 2, then d1-03 becomes the reference for Multi-Step Speed 3.
The different speed references can be selected as shown in Table 5.17. Figure 5.41 illustrates the multi-step speed
selection.
Table 5.17 Multi-Step Speed Reference and Terminal Switch Combinations
Figure 5.41
Figure 5.41 Preset Reference Timing Diagram
Reference
<1> The Jog frequency overrides whatever frequency reference is being used.
Multi-Step
Speed
H1-=3
Multi-Step
Speed 2
H1-=4
Multi-Step
Speed 3
H1-=5
Multi-Step
Speed 4
H1-=32
Jog Reference
H1-=6
Frequency Reference 1 (set in b1-01) OFF OFF OFF OFF OFF
Frequency Reference 2 (d1-02 or input terminal A1, A2, A3) ON OFF OFF OFF OFF
Frequency Reference 3 (d1-03 or input terminal A1, A2, A3) OFF ON OFF OFF OFF
Frequency Reference 4 (d1-04) ON ON OFF OFF OFF
Frequency Reference 5 (d1-05) OFF OFF ON OFF OFF
Frequency Reference 6 (d1-06) ON OFF ON OFF OFF
Frequency Reference 7 (d1-07) OFF ON ON OFF OFF
Frequency Reference 8 (d1-08) ON ON ON OFF OFF
Frequency Reference 9 (d1-09) OFF OFF OFF ON OFF
Frequency Reference 10 (d1-10) ON OFF OFF ON OFF
Frequency Reference 11 (d1-11) OFF ON OFF ON OFF
Frequency Reference 12 (d1-12) ON ON OFF ON OFF
Frequency Reference 13 (d1-13) OFF OFF ON ON OFF
Frequency Reference 14 (d1-14) ON OFF ON ON OFF
Frequency Reference 15 (d1-15) OFF ON ON ON OFF
Frequency Reference 16 (d1-16) ON ON ON ON OFF
Jog Frequency Reference (d1-17) <1> ON
d1-04
d1-05
d1-06
d1-07
d1-17
d1-12
d1-13
d1-14
d1-15
d1-16
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON ON ON
ON
ON
FWD (REV) Run/Stop
Multi-step Speed Ref. 2
Multi-step Speed Ref. 3
Jog Reference
Time
Multi-step Speed Ref. 1
Multi-step Speed Ref. 4
Frequency
reference
d1-01
(A1)
d1-02
(A2)
d1-01
(A3)
5.4 d: Reference Settings
184 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
d2: Frequency Upper/Lower Limits
By entering upper or lower frequency limits, the user can keep motor speed from going above or below levels that may
cause resonance or equipment damage.
d2-01: Frequency Reference Upper Limit
Sets the maximum frequency reference as a percentage of the maximum output frequency. This limit applies to all
frequency references.
Even if the frequency reference is set to a higher value, the drive internal frequency reference will not exceed this value.
d2-02: Frequency Reference Lower Limit
Sets the minimum frequency reference as a percentage of the maximum output frequency. This limit applies to all
frequency references.
If a lower reference than this value is entered, the drive will run at the limit set to d2-02. If the drive is started with a
lower reference than d2-02, it will accelerate up to d2-02.
Figure 5.42
Figure 5.42 Frequency Reference: Upper and Lower Limits
d2-03: Master Speed Reference Lower Limit
Unlike frequency reference lower limit (d2-02) that affects the all frequency references wherever they are sourced from
(i.e., analog input, preset speed, Jog speed, etc.), the master speed lower limit (d2-03) sets a lower limit that will only
affect a frequency reference entered from the analog input terminals (A1, A2, or A3).
Set as a percentage of the maximum output frequency.
Note: When lower limits are set to both parameters d2-02 and d2-03, the drive uses the greater of those two values as the lower limit.
d3: Jump Frequency
d3-01 to d3-04: Jump Frequencies 1, 2, 3 and Jump Frequency Width
To avoid operating at a speed that causes resonance in driven machinery, the drive can be programmed with three
separate Jump frequencies. The Jump frequencies are frequency ranges that the drive will not operate at. If the speed
reference falls within a Jump frequency dead band, the drive will clamp the frequency reference just below the dead band
and only accelerate past it when the frequency reference rises above the upper end of the dead band.
No. Parameter Name Setting Range Default
d2-01 Frequency Reference Upper Limit 0.0 to 110.0% 100.0%
No. Parameter Name Setting Range Default
d2-02 Frequency Reference Lower Limit 0.0 to 110.0% 0.0%
No. Parameter Name Setting Range Default
d2-03 Master Speed Reference Lower Limit 0.0 to 110.0% 0.0%
Internal frequency
reference
d2-01
Operating
range
Frequency Reference Upper Limit
Set frequency reference
Frequency Reference Lower Limit
d2-02
common_TMonly
5.4 d: Reference Settings
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 185
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Setting parameters d3-01 through d3-03 to 0.0 Hz disables the Jump frequency function.
Figure 5.43 shows the relationship between the Jump frequency and the output frequency.
Figure 5.43
Figure 5.43 Jump Frequency Operation
Note: 1. The drive will use the active accel/decel time to pass through the specified dead band range, but will not allow continuous operation
in that range.
2. When setting more than one Jump frequency, make sure that d3-01 d3-02 d3-03.
d4: Frequency Reference Hold and Up/Down 2 Function
d4-01: Frequency Reference Hold Function Selection
This parameter is effective when either of the digital input functions listed below is used.
Accel/decel ramp hold function (H1-= A)
Up/Down function (H1- = 10 and 11)
Up/Down 2 function (H1- = 75 and 76)
Parameter d4-01 determines whether the frequency reference or the frequency bias (Up/Down 2) value is saved when the
Stop command is entered or the power supply is shut down.
The operation depends on the function used with parameter d4-01.
Setting 0: Disabled
Acceleration hold
The hold value will be reset to 0 Hz when the Stop command is entered or the drive power is switched off. The active
frequency reference will be the value the drive uses when it restarts.
Up/Down
The frequency reference value will be reset to 0 Hz when the Stop command is entered or the drive power is switched
off. The drive will start from 0 Hz when it is turned back on again.
No.
<1> In AOLV/PM and CLV/PM control modes, the setting units and range are expressed as a percent instead of in Hz.
Parameter Name Setting Range Default
d3-01 Jump Frequency 1 0.0 to 400.0 Hz <1> 0.0 Hz <1>
d3-02 Jump Frequency 2 0.0 to 400.0 Hz <1> 0.0 Hz <1>
d3-03 Jump Frequency 3 0.0 to 400.0 Hz <1> 0.0 Hz <1>
d3-04 Jump Frequency Width 0.0 to 20.0 Hz <1> 1.0 Hz <1>
No. Parameter Name Setting Range Default
d4-01 Frequency Reference Hold Function Selection 0 or 1 0
Output
frequency
Frequency
reference
Jump
Frequency
Width (d3-04)
Jump
Frequency 3
d3-03
Jump
Frequency 2
d3-02
Jump
Frequency 1
d3-01
Frequency
reference
decreases Frequency
reference
increases
Jump
Frequency
Width (d3-04)
Jump
Frequency
Width (d3-04)
common_TMonly
5.4 d: Reference Settings
186 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Up/Down 2
The frequency bias is not saved when the Stop command is entered, or 5 s after the Up/Down 2 command has been
released. The Up/Down 2 function will start with a bias of 0% when the drive is restarted.
Setting 1: Enabled
Acceleration hold
The last hold value will be saved when the Run command or the drive power is switched off. The drive will use the
value that was saved as the frequency reference when it restarts. The multi-function input terminal set for Accel/decel
ramp hold (H1- = A) must be enabled the entire time, or else the hold value will be cleared when the power is
switched on.
Figure 5.44
Figure 5.44 Frequency Reference Hold with Accel/Decel Hold Function
Up/Down
The frequency reference value will be saved when the Run command or the drive power is switched off. The drive will
use the frequency reference that was saved when it restarts.
Up/Down 2 with frequency reference from digital operator
When a Run command is active and the Up/Down 2 command is released for longer than 5 s, the Up/Down 2 bias
value is added to the frequency reference and then reset to 0. This new frequency reference is saved and will also be
used to restart the drive after the power is cycled.
Figure 5.45
Figure 5.45 Up/Down 2 Example with Reference from Digital Operator and d4-01 = 1
Up/Down 2 with frequency reference from input sources other than the digital operator
When a Run command is active and the Up/Down 2 command is released for longer than 5 s, the bias value will be
saved in parameter d4-06. When restarting after the power is switched off, the drive will add the value saved in d4-06
as a bias to the frequency reference.
Power supply
Forward Run / Stop
Hold Accel/Decel
Frequency reference
Output frequency
d4-01 = 1
d4-01 = 0
Hold Hold
OFF
OFF OFF
OFF OFF
ON
ON ON
ON ON
ON
common_TMonly
Bias
Output
frequency
Bias is added to frequency
reference and reset to 0
Up 2 command
Frequency
reference
5 s
5 s
common_TMonly
5.4 d: Reference Settings
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 187
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Figure 5.46
Figure 5.46 Up/Down 2 Example with Other Reference than Digital Operator and d4-01 = 1
Note: Make sure to set the limits for Up/Down 2 properly when using d4-01 = 1 in combination with the Up/Down 2 function. Refer to
d4-08: Frequency Reference Bias Upper Limit (Up/Down 2) on page 189 and Refer to d4-09: Frequency Reference Bias
Lower Limit (Up/Down 2) on page 189 for details on the limit settings.
Clearing the Value that was Saved
Depending on which function is used, the frequency reference value that was saved can be cleared by:
Releasing the input programmed for Acceleration hold.
Setting an Up or Down command while no Run command is active.
Parameter d4-06 is reset to zero. Refer to d4-06: Frequency Reference Bias (Up/Down 2) on page 188 for details.
d4-03: Frequency Reference Bias Step (Up/Down 2)
Sets the bias that is added to or subtracted from the frequency reference by the Up/Down 2 function.
The operation depends on the set value:
Setting d4-03 = 0.0 Hz
While the Up 2 or Down 2 command is enabled, the bias value is increased or decreased using the accel/decel time
determined by parameter d4-04.
Figure 5.47
Figure 5.47 Up/Down 2 Bias when d4-03 = 0.0 Hz
Setting d4-03 0.0 Hz
When an Up 2 or Down 2 command is enabled, the bias is increased or decreased in steps for the value set in d4-03. The
frequency reference changes with the accel/decel times determined by parameter d4-04.
No. Parameter Name Setting Range Default
d4-03 Frequency Reference Bias Step (Up/Down 2) 0.00 to 99.99 Hz 0.00 Hz
Bias
Output
frequency
Up 2 command
d4-06 value
5 s
Bias is saved in parameter d4-06
5 s
common_TMonly
Bias
Output
frequency
Bias value is increased using the
accel/decel times as set in d4-04
Up 2 command
common_TMonly
5.4 d: Reference Settings
188 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Figure 5.48
Figure 5.48 Up/Down 2 Bias when d4-03 > 0.0 Hz
d4-04: Frequency Reference Bias Accel/Decel (Up/Down 2)
Parameter d4-04 determines the accel/decel times that are used for increasing/decreasing the frequency reference or bias
when the Up/Down 2 function is used.
Setting 0: Current Accel/Decel Time
The drive uses the currently active accel/decel time.
Setting 1: Accel/Decel Time 4
The drive uses accel/decel time 4 set to parameters C1-07 and C1-08.
d4-05: Frequency Reference Bias Operation Mode Selection (Up/Down 2)
Determines if the bias value is held or not when the Up/Down 2 inputs are both released or both enabled. The parameter
is effective only when parameter d4-03 is set to 0.00.
Setting 0: Hold Bias Value
The bias value will be held if no input Up 2 or Down 2 is active.
Setting 1: Reset Bias Value
The bias is reset to 0% when both inputs Up 2 and Down 2 are either on or off. The drive will use the accel/decel time as
selected in d4-04 to accelerate or decelerate to the frequency reference value.
d4-06: Frequency Reference Bias (Up/Down 2)
This parameter is used to save the frequency reference bias value set by the Up/Down 2 function. It is set as a percentage
of the maximum output frequency. The function of d4-06 depends on how the Up/Down 2 function is configured.
This parameter is normally not used when the frequency reference is set by the digital operator. The user can set d4-06
to a certain value that will be applied during run, but this value will be reset when the frequency reference changes
(including multi-step references) or will be disabled when d4-01 = 0 and the Run command is removed.
When d4-01 = 0 and the frequency reference is set by a source other than the digital operator, the value set in d4-06 is
generally added to or subtracted from the frequency reference.
When d4-01 = 1 and the frequency reference is set by a source other than the digital operator, the bias value adjusted
with the Up/Down 2 inputs is stored in d4-06 once 5 s have passed after the Up 2 or Down 2 command is released. The
frequency reference will then return to what it was without the Up/Down 2 command.
No. Parameter Name Setting Range Default
d4-04 Frequency Reference Bias Accel/Decel (Up/Down 2) 0 or 1 0
No. Parameter Name Setting Range Default
d4-05 Frequency Reference Bias Operation Mode Selection (Up/Down 2) 0 or 1 0
No. Parameter Name Setting Range Default
d4-06 Frequency Reference Bias (Up/Down 2) -99.9 to 100.0% 0.0%
Bias
Output
frequency
Up 2 command
Bias value is increased in steps as
defined in d4-03
Drive uses accel/decel times as
set in d4-04
common_TMonly
5.4 d: Reference Settings
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Conditions that Generally Reset or Disable Parameter d4-06
When the Up/Down 2 function has not been assigned to the multi-function terminals
When the frequency reference source has been changed (including LOCAL/REMOTE or External reference 1/2 switch
over by digital inputs)
If d4-03 = 0 Hz, d4-05 = 1 and the Up/Down 2 commands are both open or both closed
Any changes to the maximum frequency set to E1-04
d4-07: Analog Frequency Reference Fluctuation Limit (Up/Down 2)
This parameter is for handling changes in the frequency reference while the terminal set for Up 2 or Down 2 is enabled.
If the frequency reference changes for more than the level set to d4-07, then the bias value will be held, and the drive will
accelerate or decelerate following the frequency reference. When the frequency reference is reached, the bias hold is
released and the bias follows the Up/Down 2 input commands.
Parameter d4-07 is applicable only if the frequency reference is set by an analog or pulse input.
d4-08: Frequency Reference Bias Upper Limit (Up/Down 2)
Parameter d4-08 sets the upper limit of the Up/Down 2 bias (monitor U6-20) and the value that can be saved in parameter
d4-06. Set this parameter to an appropriate value before using the Up/Down 2 function.
Note: When the frequency reference is set by the digital operator (b1-01 = 0) and d4-01 = 1, the bias value will be added to the
frequency reference if no Up/Down 2 command is received for 5 s, and will be reset to 0 afterwards. From that point, the bias can
be increased up to the limit set in d4-08 again.
d4-09: Frequency Reference Bias Lower Limit (Up/Down 2)
Parameter d4-09 sets the lower limit of the Up/Down 2 bias (monitor U6-20) and the value that can be saved in parameter
d4-06. Set this parameter to an appropriate value before using the Up/Down 2 function.
Note: When the frequency reference is set by the digital operator (b1-01 = 0) and d4-01 = 1, the bias value will be added to the
frequency reference if no Up/Down 2 command is received for 5 s, and will be reset to 0 afterwards. If the bias is increased using
the Up 2 command, it cannot be reduced with a Down 2 command when the limit set in d4-09 is 0. To allow speed reduction in
this situation, set a negative lower limit in d4-09.
d4-10: Up/Down Frequency Reference Limit Selection
Selects how the lower frequency limit is set when the Up/Down function is used. Refer to Setting 10, 11: Up, Down
command on page 220 for details on the Up/Down function in combination with frequency reference limits.
Setting 0: Lower Limit is Determined by d2-02 or Analog Input
The lower frequency reference limit is determined by the higher value of either parameter d2-02 or an analog input (A1,
A2, A3) that is programmed for Frequency bias.
Note: For example, if the command to switch the external reference (H1- = 2) is used to switch between the Up/Down function and
an analog input as the reference source, then the analog value would become the lower reference limit when the Up/Down
command is active. Change d4-10 to 1 to make the Up/Down function independent of the analog input value.
Setting 1: Lower Limit is Determined by Parameter d2-02
Only parameter d2-02 sets the lower frequency reference limit.
No. Parameter Name Setting Range Default
d4-07 Analog Frequency Reference Fluctuation Limit (Up/Down 2) 0.1 to 100.0% 1.0%
No. Parameter Name Setting Range Default
d4-08 Frequency Reference Bias Upper Limit (Up/Down 2) 0.0 to 100.0% 100.0%
No. Parameter Name Setting Range Default
d4-09 Frequency Reference Bias Lower Limit (Up/Down 2) -99.9 to 0.0% 0.0%
No. Parameter Name Setting Range Default
d4-10 Up/Down Frequency Reference Limit Selection 0 or 1 0
5.4 d: Reference Settings
190 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
d5: Torque Control
Torque Control is available for CLV and CLV/PM (A1-02 = 3, 7). It allows to define a setpoint for the torque produced
by the motor.
Torque Control Operation
Torque control can be enabled either by setting parameter d5-01 to 1 or by a digital input (H1- = 71). Figure 5.49
illustrates the working principle.
Figure 5.49
Figure 5.49 Torque Control Block Diagram
The externally input torque reference is used as the target value for the motor output torque. If the motor torque reference
and the load torque are not in balance when in Torque Control, the motor accelerates or decelerates. An operation beyond
the speed limit is prevented by compensating the external torque reference value if the motor speed reaches the limit. The
compensation value is calculated using the speed limit, speed feedback, and the speed limit bias.
If an external torque compensation value is input, it is added to the speed limit compensated torque reference value. The
value calculated is limited by the L7- settings, and is then used as the internal torque reference, which can be
monitored in U1-09. The L7- settings have highest priority, i.e., the motor cannot be operated with a higher torque
than the L7- settings, even if the external torque reference value is increased.
Torque Compensation
External Torque Reference
External Speed Limit
Speed Limit set in d5-04
Speed Feedback
Speed Limit Bias d5-05
Soft
Starter
d5-03
1
2
C1- , C2-
Torque Reference Delay
d5-02
Torque
Limits
L7-
Internal Torque
Reference
+
Compensated torque
reference
d5-08
+
U1-09
Speed Limiter
common_TMonly
5.4 d: Reference Settings
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Setting the Torque Reference, Speed Limit, and Torque Compensation Values
Torque Control Reference Sources
Input values for Torque Control can be set like explained in Table 5.18.
Table 5.18 Torque Control Input Value Selection
Input Value Polarity
The direction of the input values described above depends on the polarity of the Run command and the input value.
Table 5.19 Torque Control Signal Polarity
Example:
With a Forward run command and a positive torque reference signal the internal torque reference will be positive, i.e.,
in the forward direction.
With a Forward run command and a negative torque reference signal the internal torque reference will be negative, i.e.,
in the reverse direction.
When analog inputs are used, negative input values can be generated by
applying negative voltage input signals.
using positive analog input signals but setting the analog input bias to negative values so that the input value can be
negative.
When MEMOBUS communication or a communication option card is used, only positive input values can be set.
Independent of its input source, the polarity of the torque reference signal can be inverted using a digital input that is
programmed for H1- = 78. Use this function to input negative torque reference values when using MEMOBUS or a
communication option card.
Input Value
<1> Sets analog input terminals A1, A2, and A3 to supply the speed limit, torque reference, or torque compensation. An oPE error will occur if two
analog inputs are set for the same function.
Signal Source Settings Remarks
Torque Reference
Analog inputs A1/A2/A3 H3-02, H3-06, or H3-10 = 13 <1>
Make sure the signal level settings for the input terminal selected
match the signal used. Refer to H3: Multi-Function Analog Inputs
on page 237 for details on adjusting analog input signals.
Analog Option Card
F2-01 = 0
H3-02, H3-06, or H3-10 = 13 <1>
The F3- settings become effective for the option board input
terminals. Make sure the signal level settings for the input terminal
selected match the signal used. Refer to H3: Multi-Function
Analog Inputs on page 237 for details on adjusting analog input
signals.
MEMOBUS Register 0004h
Set Register 000Fh, Bit 2 = 1 to enable Torque
reference from register 0004h
Speed Limit
Signal selected as frequency
reference source
d5-03 = 1
The speed limit is taken from the input selected as
frequency reference source in parameter b1-01 or b1-
15. <1>
The settings in C1- for accel/decel times and in C2- for S-
curves are applied to the speed limit value.
Parameter d5-04 d5-03 = 2
Torque Compensation
Analog inputs A1/A2/A3 H3-02, H3-06, or H3-10 = 14 <1>
Make sure the signal level settings for the input terminal selected
match the signal used. Refer to H3: Multi-Function Analog Inputs
on page 237 for details on adjusting analog input signals.
Analog Option Card
F2-01 = 0
H3-02, H3-06, or H3-10 = 14 <1>
The H3- settings become effective for the option card input
terminals. Make sure the signal level settings for the input terminal
selected match the signal used.
MEMOBUS Register 0005h
Set Register 000Fh, bit 3 = 1 to enable the torque
reference setting by register 0005h
Correct the settings for E1-04, E1-06, E1-07, E1-09, and E1-11 (for motor 2, correct E3-04,
E3-06, E3-07, E3-09, and E3-11).
Digital Operator Display Error Name
oPE11
Carrier Frequency Setting Error
Correct the setting for the carrier frequency.
Cause Possible Solutions
The following simultaneous contradictory settings: C6-05 is greater than 6 and C6-04 is
greater than C6-03 (carrier frequency lower limit is greater than the upper limit). If C6-05 is
less than or equal to 6, the drive operates at C6-03.
Correct the parameter settings.
Upper and lower limits between C6-02 and C6-05 contradict each other.
Digital Operator Display Error Name
oPE13
Pulse Monitor Selection Error
Incorrect setting of monitor selection for pulse train (H6-06).
Cause Possible Solutions
Scaling for the pulse train monitor is set to 0 (H6-07 = 0) while H6-06 is not set to 101, 102,
105, or 116.
Change scaling for the pulse train monitor or set H6-06 to 101, 102, 105, or 116.
Digital Operator Display Error Name
oPE15
Torque Control Setting Error
Parameters settings that are not allowed in combination with Torque Control have been set.
Cause Possible Solutions
Torque Control in enabled (d5-01 = 1) while the Speed/Torque Control switch function is
assigned to a digital input (H1- = 71).
Correct the parameter settings.
Either Torque Control is enabled by d5-01 = 1, the or Speed/Torque Control switch is assigned
to a digital input H1- = 71, while at the same time:
Feed Forward is enabled (n5-01 = 1), or
Droop Control is enabled (b7-01 0), or
Intelligent Stall Prevention or Intelligent Stall Prevention 2 is enabled (L3-04 = 2 or 5), or
A digital input is set for the power KEB 1 or KEB 2 (H1- = 7A or 7B)
Digital Operator Display Error Name
oPE16 Energy Savings Constants Error
Cause Possible Solutions
In AOLV/PM the automatically calculated energy saving coefficients are out of the allowable
range.
Check and correct the motor data in E5 parameters.
Digital Operator Display Error Name
oPE18
Online Tuning Parameter Setting Error
Parameters that control Online Tuning are not set correctly.
Cause Possible Solutions
One of the following setting errors has occurred while Online Tuning is enabled in OLV (A1-
02 = 2):
E2-02 has been set below 30% of the original default value
E2-06 has been set below 50% of the original default value
E2-03 = 0
Make sure E2-02, E2-03, and E2-06 are set the correct values.
332 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
6.7 Auto-Tuning Fault Detection
6.7 Auto-Tuning Fault Detection
Auto-Tuning faults are shown below. When the following faults are detected, the fault is displayed on the digital operator
and the motor coasts to a stop. Auto-Tuning faults do not trigger an multi-function terminal set for fault or alarm output.
An End error indicates that although Auto-Tuning has completely successful, there is some discrepancy in the
calculations the drive made. If an End error occurs, check for what might be causing the error using the table below,
and perform Auto-Tuning again once the problem has been taken care of. If there appears to be no problem despite the
End error being displayed, go ahead and start the application.
Auto-Tuning Codes, Causes, and Possible Solutions
Table 6.18 Auto-Tuning Codes, Causes, and Possible Solutions
Digital Operator Display Error Name
End1 Excessive V/f Setting (detected only during Rotational Auto-Tuning, and displayed after Auto-Tuning is complete)
Cause Possible Solutions
The torque reference exceeded 20% during
Auto-Tuning.
Before Auto-Tuning the drive, verify the information written on the motor nameplate and enter that data to T1-03 through T1-05.
Enter proper information to parameters T1-03 to T1-05 and repeat Auto-Tuning.
If possible, disconnect the motor from the load and perform Auto-Tuning. If the load cannot be uncoupled, simply use the Auto-
Tuning results as they are.
The results from Auto-Tuning the no-load current
exceeded 80%.
Digital Operator Display Error Name
End2 Motor Iron-Core Saturation Coefficient (detected only during Rotational Auto-Tuning and displayed after Auto-Tuning is complete)
Cause Possible Solutions
Motor data entered during Auto-Tuning was
incorrect.
Make sure the data entered to the T1 parameters match the information written on the motor nameplate.
Restart Auto-Tuning and enter the correct information.
Results from Auto-Tuning are outside the parameter
setting range, assigning the iron-core saturation
coefficient (E2-07, E2-08) a temporary value.
Check and correct faulty motor wiring.
Disconnect the motor from machine and perform Rotational Auto-Tuning.
Digital Operator Display Error Name
End3 Rated Current Setting Alarm (displayed after Auto-Tuning is complete)
Cause Possible Solutions
The correct current rating printed on the nameplate
was not entered into T1-04.
Check the setting of parameter T1-04.
Check the motor data and repeat Auto-Tuning.
Digital Operator Display Error Name
End4 Adjusted Slip Calculation Error
Cause Possible Solutions
The slip that was calculated is outside the allowable
range.
Make sure the data entered for Auto-Tuning is correct.
Execute Rotational Auto-Tuning instead. If not possible, try Stationary Auto-Tuning 2.
Digital Operator Display Error Name
End5 Resistance Tuning Error
Cause Possible Solutions
The resistance value that was calculated is outside
the allowable range.
Double check the data that was entered for the Auto-Tuning process.
Check the motor and motor cable connection for faults.
Digital Operator Display Error Name
End6 Leakage Inductance Alarm
Cause Possible Solutions
The leakage inductance value that was calculated is
outside the allowable range.
Double check the data that was entered for the Auto-Tuning process.
Digital Operator Display Error Name
End7 No-Load Current Alarm
Cause Possible Solutions
The entered no-load current value was outside the
allowable range.
Check and correct faulty motor wiring.
Auto-Tuning results were less than 5% of the motor
rated current.
Double check the data that was entered for the Auto-Tuning process.
6.7 Auto-Tuning Fault Detection
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Digital Operator Display Error Name
Er-01 Motor Data Error
Cause Possible Solutions
Motor data or data entered during Auto-Tuning was
incorrect.
Check that the motor data entered to T1 parameters matches motor nameplate input before Auto-Tuning.
Start Auto-Tuning over again and enter the correct information.
Motor output power and motor-rated current settings
(T1-02 and T1-04) do not match.
Check the drive and motor capacities.
Correct the settings of parameters T1-02 and T1-04.
Motor rated current and detected no-load current are
not consistent with another.
Check the motor rated current and no-load current.
Correct the settings of parameters T1-04 and E2-03.
Base frequency and motor rated speed (T1-05 and
T1-07) do not match.
Set T1-05 and T1-07 to the correct value.
Check if the correct pole number was entered to T1-06.
Digital Operator Display Error Name
Er-02 Minor Fault
Cause Possible Solutions
An alarm was triggered during Auto-Tuning. Exit the Auto-Tuning menu, check the alarm code, remove the alarm cause, and repeat Auto-Tuning.
Digital Operator Display Error Name
Er-03 STOP Button Input
Cause Possible Solutions
Auto-Tuning canceled by pressing STOP button. Auto-Tuning did not complete properly and will have to be performed again.
Digital Operator Display Error Name
Er-04 Line-to-Line Resistance Error
Cause Possible Solutions
Motor data entered during Auto-Tuning was
incorrect.
Make sure the data entered to the T1 parameters match the information written on the motor nameplate.
Restart Auto-Tuning and enter the correct information.
Results from Auto-Tuning are outside the parameter
setting range or the tuning process took too long.
Check and correct faulty motor wiring.
Motor cable or cable connection faulty.
Digital Operator Display Error Name
Er-05 No-Load Current Error
Cause Possible Solutions
Motor data entered during Auto-Tuning was
incorrect.
Make sure the data entered to the T1 parameters match the information written on the motor nameplate.
Restart Auto-Tuning and enter the correct information.
Results from Auto-Tuning are outside the parameter
setting range or the tuning process took too long.
Check and correct faulty motor wiring.
Perform Rotational Auto-Tuning.
The load during Rotational Auto-tuning was too
high.
Disconnect the motor from machine and restart Auto-Tuning. If motor and load cannot be uncoupled make sure the load is lower
than 30%.
If a mechanical brake is installed, make sure it is fully lifted during tuning.
Digital Operator Display Error Name
Er-08 Rated Slip Error
Cause Possible Solutions
Motor data entered during Auto-Tuning was
incorrect.
Make sure the data entered to the T1 parameters match the information written on the motor nameplate.
Restart Auto-Tuning and enter the correct information.
Drive-calculated values outside parameter setting
range or the tuning process took too long.
Check and correct faulty motor wiring.
Perform Rotational Auto-Tuning.
The load during rotational Auto-tuning was too high.
Disconnect the motor from machine and restart Auto-Tuning. If motor and load cannot be uncoupled make sure the load is lower
than 30%.
If a mechanical brake is installed, make sure it is fully lifted during tuning.
Digital Operator Display Error Name
Er-09 Acceleration Error
Cause Possible Solutions
The motor did not accelerate for the specified
acceleration time.
Increase the acceleration time (C1-01).
Check if it is possible to disconnect the machine from the motor.
Torque limit when motoring is too low (L7-01 and
L7-02).
Check the settings of parameters L7-01 and L7-02.
Increase the setting.
The load during Rotational Auto-Tuning was too
high.
Disconnect the motor from machine and restart Auto-Tuning. If motor and load cannot be uncoupled make sure the load is lower
than 30%.
If a mechanical brake is installed, make sure it is fully lifted during tuning.
Digital Operator Display Error Name
Er-10 Motor Direction Error
Cause Possible Solutions
The encoder signal lines are not properly connected
to the drive.
Check and correct wiring to the PG encoder.
Motor and PG direction are opposite.
Check the motor speed monitor U1-05 while turning the motor manually in forward direction. If the sign displayed is negative,
change the setting of parameter F1-05.
The load pulled the motor in the opposite direction
of the speed reference and the torque exceeded
100%.
Uncouple the motor from the load and repeat Auto-Tuning.
6.7 Auto-Tuning Fault Detection
334 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Digital Operator Display Error Name
Er-11 Motor Speed Fault
Cause Possible Solutions
Torque reference is too high.
Increase the acceleration time (C1-01).
Disconnect the machine from the motor, if possible.
Digital Operator Display Error Name
Er-12 Current Detection Error
Cause Possible Solutions
One of the motor phases is missing:
(U/T1, V/T2, W/T3).
Check motor wiring and correct any problems.
Current exceeded the current rating of the drive. Check the motor wiring for a short between motor lines.
If a magnetic contactor is used between motors, make sure it is closed.
Replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or your nearest
sales representative.
The current is too low.
Attempted Auto-Tuning without motor connected to
the drive.
Connect the motor and perform Auto-Tuning.
Current detection signal error.
Replace either the control board or the entire drive. For instructions on replacing the control board, contact Yaskawa or your nearest
sales representative.
Digital Operator Display Error Name
Er-13 Leakage Inductance Error
Cause Possible Solutions
Drive was unable to complete tuning for leakage
inductance within 300 seconds.
Check all wiring and correct any mistakes.
Double check the motor rated current value that was entered to T1-04 for Auto-Tuning.
Check the motor rated current value written on the motor nameplate and enter the correct value.
Digital Operator Display Error Name
Er-14 Motor Speed Error 2
Cause Possible Solutions
The motor speed exceeded twice the amplitude of
speed reference during Inertia Tuning.
Reduce the ASR gain set to C5-01.
Digital Operator Display Error Name
Er-15 Torque Saturation Error
Cause Possible Solutions
The output torque reached the torque limit set in L7-
01 through L7-04 during Inertia Tuning.
Increase the torque limits in L7-01 through L7-04 (but keep them within reasonable limits).
First try reducing the test signal amplitude in T3-01 and repeat the tuning. If necessary, then try reducing the test signal frequency
(T3-02) and repeat the tuning.
Digital Operator Display Error Name
Er-16 Inertia Detection Error
Cause Possible Solutions
The inertia identified by the drive was abnormally
small or abnormally large during Inertia Tuning.
First try reducing the test signal amplitude in T3-01 and repeat the tuning. If necessary, then try reducing the test signal frequency
(T3-02) and repeat the tuning.
Check the basic motor inertia value entered to T3-03.
Digital Operator Display Error Name
Er-17 Reverse Prohibited Error
Cause Possible Solutions
Drive is prohibited from rotating the motor in
reverse while attempting to perform Inertia Tuning.
Inertia Auto-Tuning cannot be performed if the drive is restricted from rotating in reverse.
Assuming it is acceptable for the application to rotate in reverse, set b1-04 to 0 and then execute Inertia Tuning.
Digital Operator Display Error Name
Er-18 Induction Voltage Error
Cause Possible Solutions
The induced voltage constant exceeds the allowable
setting range.
Double check the data that was entered to the T2- parameters, and perform Auto-Tuning again.
Digital Operator Display Error Name
Er-19 PM Inductance Error
Cause Possible Solutions
The induced voltage constant inductance values set
to E5-08 or E5-09 exceed the allowable range.
Double check the data that was entered to the T2- parameters, and perform Auto-Tuning again.
Digital Operator Display Error Name
Er-20 Stator Resistance Error
Cause Possible Solutions
Stator resistance tuning attempted to set a value to
E5-06 that is outside the allowable setting range.
Double check the data that was entered to the T2- parameters, and perform Auto-Tuning again.
6.7 Auto-Tuning Fault Detection
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Digital Operator Display Error Name
Er-21 Z Pulse Correction Error
Cause Possible Solutions
Motor was coasting when Auto-Tuning was
performed.
Make sure the motor has stopped completely. Repeat Auto-Tuning.
Either the motor or the PG encoder on the motor is
not properly wired.
Check the wiring for the motor and the PG encoder. Repeat Auto-Tuning.
The direction for the PG encoder is set incorrectly, or
the number of pulses set for the PG encoder is
wrong.
Check the direction and number of pulses set for the PG encoder. Repeat Auto-Tuning.
PG encoder is damaged. Check the signal output from the PG encoder attached to the motor. Replace the PG if damaged.
336 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
6.8 Copy Function Related Displays
6.8 Copy Function Related Displays
Tasks, Errors, and Troubleshooting
The table below lists the messages and errors that may appear when using the Copy function.
When executing the tasks offered by the Copy function, the operator will indicate the task being performed. When an
error occurs, a code appears on the operator to indicate the error. Note that errors related to the Copy function do not
trigger a multi-function output terminal that has been set up to close when a fault or alarm occurs. To clear an error,
simply press any key on the operator and the error display will disappear.
Table 6.19 lists the corrective action that can be taken when an error occurs.
Note: 1. Whenever using the copy function, the drive should be fully stopped.
2. The drive will not accept a Run command while the Copy function is being executed.
3. Parameters can only be saved to a drive when the voltage class, capacity, control mode, and software version match.
Table 6.19 Copy Function Task and Error Displays
Digital Operator Display Task
CoPy Writing Parameter Settings (flashing)
Cause Possible Solutions
Parameters are being written to the drive. Not an error.
Digital Operator Display Task
CPEr Control Mode Mismatch
Cause Possible Solutions
Control mode of the parameters to be loaded onto the drive
and the control mode already set to the drive dont match.
Check the control mode for the parameters that are to be loaded onto the drive and the control mode set to the drive
those parameters will be written to. Set the same control mode using parameter A1-02 and try again.
Digital Operator Display Task
CPyE Error Writing Data
Cause Possible Solutions
Failed writing parameters. Try writing parameters again.
Digital Operator Display Task
CSEr Copy Unit Error
Cause Possible Solutions
Hardware fault Replace the operator or the USB Copy Unit.
Digital Operator Display Task
dFPS Drive Model Mismatch
Cause Possible Solutions
The drive from which the parameter were copied and the
drive you are attempting to write to are not the same model.
The drive the parameters were copied from is a different
model drive.
The drive you attempting to write to is a different model.
Check the model number of the drive that the parameters were copied from and the model of the drive you are
attempting to write those parameters to.
Make sure the drive from which the parameter are copied and the drive to be written to have the same model numbers
and software versions.
Digital Operator Display Task
End Task Complete
Cause Possible Solutions
Finished reading, writing, or verifying parameters. Not an error.
Digital Operator Display Task
iFEr Communication Error
Cause Possible Solutions
A communication error occurred between the drive and the
operator or the USB copy unit.
Check the cable connection.
A non-compatible cable is being used to connect the USB
Copy Unit and the drive.
Use the cable originally packaged with the USB Copy Unit.
Digital Operator Display Task
ndAT Model, Voltage Class, Capacity Mismatch
Cause Possible Solutions
The drive the parameters were copied from and the drive
you are attempting to write to have different electrical
specifications, a different capacity, is set to a different
control mode, or is a different model number.
Make sure model numbers and specifications are the same for both drives.
The device being used to write the parameters is blank and
does not have any parameters saved on it.
Making sure all connections are correct, and copy the parameter settings onto the USB Copy Unit or the operator.
6.8 Copy Function Related Displays
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Digital Operator Display Task
rdEr Error Reading Data
Cause Possible Solutions
Failed while attempting to read parameter settings from the
drive.
Press and hold the READ key on the USB Copy Unit for at least one second to have the unit read parameters from the
drive.
Digital Operator Display Task
rEAd Reading Parameter Settings (flashing)
Cause Possible Solutions
Displayed while the parameter settings are being read onto
the USB Copy Unit.
Not an error.
Digital Operator Display Task
vAEr Voltage Class, Capacity Mismatch
Cause Possible Solutions
The drive the parameters were copied from and the drive
you performing the Verify mode on have different electrical
specifications or are a different capacity.
Make sure electrical specifications and capacities are the same for both drives.
Digital Operator Display Task
vFyE Parameter settings in the drive and those saved to the copy function are not the same
Cause Possible Solutions
Indicates that parameter settings that have been Read and
loaded onto the Copy Unit or Digital Operator are different.
To have parameters be the same, either write the parameters save on the USB Copy Unit or LCD digital operator onto
the drive, or Read the parameter settings on the drive onto the USB Copy Unit.
Digital Operator Display Task
vrFy Comparing Parameter Settings (flashing)
Cause Possible Solutions
The Verify mode has confirmed that parameters settings on
the drive and parameters read to the copy device are
identical.
Not an error.
338 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
6.9 Diagnosing and Resetting Faults
6.9 Diagnosing and Resetting Faults
When a fault occurs and the drive stops, follow the instructions below to remove whatever conditions triggered the fault,
then restart the drive.
Fault Occurs Simultaneously with Power Loss
WARNING! Electrical Shock Hazard. Ensure there are no short circuits between the main circuit terminals (R/L1, S/L2, and T/L3) or
between the ground and main circuit terminals before restarting the drive. Failure to comply may result in serious injury or death and
will cause damage to equipment.
1. Turn on the drive input power.
2. Use monitor parameters U2- to display data on the operating status of the drive just before the fault
occurred.
3. Remove the cause of the fault and reset.
Note: 1. To find out what faults were triggered, check the fault history in U2-02. Information on drive status when the fault occurred such as
the frequency, current, and voltage can be found in U2-03 through U2-20. Refer to Viewing Fault Trace Data After Fault on
page 338 for information on how to view fault data.
2. When the fault continues to be displayed after cycling power, remove the cause of the fault and reset.
If the Drive Still has Power After a Fault Occurs
1. Look at the digital operator for information on the fault that occurred.
2. Refer to Fault Displays, Causes, and Possible Solutions on page 310
3. Reset the fault. Refer to Fault Reset Methods on page 339.
Viewing Fault Trace Data After Fault
Step Display/Result
1. Turn on the drive input power. The first screen displays.
2.
Press until the monitor screen is displayed.
3.
Press to display the parameter setting screen.
4.
Press and until U2-02 (Fault History) is displayed.
5.
Press to view the most recent fault (oC in this example).
6.
Press to go back to the U2-02 display.
7.
Press to view drive status information when fault occurred.
Parameters U2-03 through U2-20 help determine the cause of a fault.
Parameters to be monitored differ depending on the control mode.
ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT DRV
6.9 Diagnosing and Resetting Faults
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Fault Reset Methods
When a fault occurs, the cause of the fault must be removed and the drive must be restarted. The table below lists the
different ways to restart the drive.
Note: If the Run command is present, the drive will disregard any attempts to reset the fault. The Run command must first be removed
before a fault situation can be cleared.
After the Fault Occurs Procedure
Fix the cause of the fault, restart the drive, and
reset the fault
Press on the digital operator.
Resetting via Fault Reset Digital Input S4
Close then open the fault signal digital input via terminal S4.
S4 is set for Fault Reset as default (H1-04 = 14).
If the above methods do not reset the fault, turn off the drive main power supply. Reapply power after the digital
operator display is out.
LO
RE
ESC
RUN STOP
ENTER RESET
ALM DIGITAL OPERATOR JVOP-182
REV DRV FOUT YEC_
common
Fault Reset Switch
Drive
S4 Fault Reset Digital Input
SC Digital Input Common
ON
OFF
2
1
340 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
6.10 Troubleshooting without Fault Display
6.10 Troubleshooting without Fault Display
This section describes troubleshooting problems that do not trip an alarm or fault.
The following symptoms indicate that the drive is not set correctly for proper performance with the motor. Refer to
Motor Performance Fine-Tuning on page 300 for guidance on troubleshooting.
Motor hunting and oscillation
Poor motor torque
Poor speed precision
Poor motor torque and speed response
Motor noise
Common Problems
Cannot Change Parameter Settings
Common Problems Page
Cannot Change Parameter Settings 340
Motor Does Not Rotate Properly after Pressing RUN Button or after Entering
External Run Command
Motor Does Not Rotate 341
Motor Rotates in the Opposite Direction from the Run Command 341
Motor Rotates in One Direction Only 342
Motor is Too Hot 342
Drive Does Not Allow Selection of Rotational Auto-Tuning 342
oPE02 Error Occurs When Lowering the Motor Rated Current Setting 342
Motor Stalls During Acceleration or With Large Loads 342
Drive Frequency Reference Differs from the Controller Frequency Reference Command 343
Excessive Motor Oscillation and Erratic Rotation 343
Deceleration Takes Longer Than Expected with Dynamic Braking Enabled 343
Load Falls When Brake is Applied (Hoist-Type Applications) 343
Noise From Drive or Output Lines When the Drive is Powered On 344
Earth Leakage Circuit Breaker (ELCB) Trips During Run 344
Connected Machinery Vibrates When Motor Rotates
Unexpected Noise from Connected Machinery 344
Oscillation or Hunting 344
PID Output Fault 344
Insufficient Starting Torque 344
Motor Rotates After the Drive Output is Shut Off (Motor Rotates During DC Injection Braking) 345
Output Frequency is not as High as Frequency Reference 345
Buzzing Sound from Motor at 2 kHz 345
Unstable Motor Speed when Using PM or IPM 345
Motor Does Not Restart after Power Loss 345
Cause Possible Solutions
The drive is running the motor (i.e., the Run command is present).
Stop the drive and switch over to the Programming Mode.
Most parameters cannot be edited during run.
The Access Level is set to restrict access to parameter settings. Set the Access Level to allow parameters to be edited (A1-01 = 2).
The operator is not in the Parameter Setup Mode (the screen will
display PAr).
See what mode the operator is currently set for.
Parameters cannot be edited when in the Setup Mode (STUP). Switch modes so that PAr appears on the screen.
Refer to The Drive and Programming Modes on page 97.
A multi-function contact input terminal is set to allow or restrict
parameter editing (H1-01 through H1-08 = 1B).
When the terminal is open, parameters cannot be edited.
Turn on the multi-function contact input set to 1B.
The wrong password was entered.
If the password entered to A1-04 does not match the password saved to A1-05, then drive settings cannot be
changed.
Reset the password.
If you cannot remember the password:
Scroll to A1-04. Press the button and press at the same time. Parameter A1-05 will appear.
Set a new password to parameter A1-05.
Undervoltage was detected.
Check the drive input power voltage by looking at the DC bus voltage (U1-07).
Check all main circuit wiring.
STOP
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Motor Does Not Rotate Properly after Pressing RUN Button or after Entering
External Run Command
Motor Does Not Rotate
Motor Rotates in the Opposite Direction from the Run Command
Cause Possible Solutions
The drive is not in the Drive Mode.
Check if the DRV light on the digital operator is lit.
Enter the Drive Mode to begin operating the motor. Refer to The Drive and Programming Modes on page 97.
The button was pushed.
Stop the drive and check if the correct frequency reference source is selected. If the operator keypad shall be the source, the LO/RE button
LED must be on. If the source is REMOTE, it must be off.
Take the following steps to solve the problem:
Push the button.
If o2-01 is set to 0, then the LO/RE button will be disabled.
Auto-Tuning has just completed.
When Auto-Tuning completes, the drive is switched back to the Programming Mode. The Run command will not be accepted unless the
drive is in the Drive Mode.
Use the digital operator to enter the Drive Mode. Refer to The Drive and Programming Modes on page 97.
A Fast Stop was executed and has not yet
been reset.
Reset the Fast Stop command.
Settings are incorrect for the source that
provides the Run command.
Check parameter b1-02 (Run Command Selection).
Set b1-02 so that it corresponds with the correct Run command source.
0: Digital operator
1: Control circuit terminal (default setting)
2: MEMOBUS/Modbus communications
3: Option card
There is faulty wiring in the control circuit
terminals.
Check the wiring for the control terminal.
Correct wiring mistakes.
Check the input terminal status monitor (U1-10).
The drive has been set to accept the
frequency reference from the incorrect
source.
Check parameter b1-01 (Frequency Reference Selection 1).
Set b1-01 to the correct source of the frequency reference.
0: Digital operator
1: Control circuit terminal (default setting)
2: MEMOBUS/Modbus communications
3: Option card
4: Pulse train input (RP)
The terminal set to accept the main speed
reference is set to the incorrect voltage and/
or current.
If the frequency reference is set at terminal A1, check parameter H3-01 for the correct signal level selection. If terminal A2 is used, check DIP
switch S1 parameter H3-08. If terminal A3 is used, check parameter H3-08. Refer to Terminal A2 Input Signal Selection on page 85.
Selection for the sink/source mode and the
internal/external power supply is incorrect.
Check jumper S3. Refer to Sinking/Sourcing Mode Switch for Digital Inputs on page 81.
Frequency reference is too low.
Check the frequency reference monitor (U1-01).
Increase the frequency by changing the maximum output frequency (E1-09).
Multi-function analog input is set up to
accept gain for the frequency reference, but
no voltage (current) has been provided.
Check the multi-function analog input settings.
Check if analog input A1, A2, or A3 is set for frequency reference gain (H3-02, H3-10, H3-06 = 1). If so, check if the correct signal is
applied to the terminal. The gain and the frequency reference will be 0 if no signal is applied to the gain input.
Check if H3-02, H3-10, and H3-06 have been set to the proper values.
Check if the analog input value has been set properly. (U1-13 to U1-15)
The button was pressed when
the drive was started from a REMOTE
source.
When the button is pressed, the drive will decelerate to stop.
Switch off the Run command and then re-enter a new Run command.
The button can be disabled when o2-02 is set to 0.
Motor starting torque is too low. Refer to Motor Performance Fine-Tuning on page 300
Frequency reference value is too low or the
drive does not accept the value entered.
Enter a value that is above the minimum output frequency determined by E1-09.
The sequence Start/Stop sequence is set up
incorrectly.
If the drive is supposed to be set up for a 2-wire sequence, then ensure parameters H1-03 through H1-08 are not set to 0.
If the drive is supposed to be set up for a 3-wire sequence, then one of the parameters H1-03 through H1-08 must be set to 0. Terminal S1
will become the Start, terminal S2 will become the Stop input.
Cause Possible Solutions
Phase wiring between the drive and motor is incorrect.
Check the motor wiring.
Switch two motor cables (U, V, and W) to reverse motor direction.
Connect drive output terminals U/T1, V/T2, and W/T3 in the right order to match motor terminals U, V, and W.
Change the setting of parameter b1-14.
The forward direction for the motor is setup incorrectly.
Typically, forward is designated as being counterclockwise when looking from the motor shaft (see figure below).
1. Forward Rotating Motor (looking down the motor shaft)
2. Motor Shaft
STOP
STOP
STOP
1
2
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342 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Note: Check the motor specifications for the forward and reverse directions. The motor specifications will vary depending on the
manufacturer of the motor.
Motor Rotates in One Direction Only
Motor is Too Hot
Drive Does Not Allow Selection the Desired Auto-Tuning Mode
oPE02 Error Occurs When Lowering the Motor Rated Current Setting
Motor Stalls during Acceleration or Acceleration Time is Too Long
The motor is running at almost 0 Hz and the Speed Search estimated
the speed to be in the opposite direction.
Disable bi-directional search (b3-14 = 0) so that Speed Search is performed only in the specified direction.
Cause Possible Solutions
The drive prohibits reverse rotation.
Check parameter b1-04.
Set the drive to allow the motor to rotate in reverse (b1-04 = 0).
A Reverse run signal has not been entered, although 3-wire
sequence is selected.
Make sure that one of the input terminals S3 to S8 used for the 3-wire sequence has been set for reverse.
Cause Possible Solutions
The load is too heavy.
If the load is too heavy for the motor, the motor will overheat as it exceeds its rated torque value for an extended
period of time.
Keep in mind that the motor also has a short-term overload rating in addition to the possible solutions provided below:
Reduce the load.
Increase the acceleration and deceleration times.
Check the values set for the motor protection (L1-01, L1-02) as well as the motor rated current (E2-01).
Increase motor capacity.
The air around the motor is too hot.
Check the ambient temperature.
Cool the area until it is within the specified temperature range.
The drive is operating in a vector control mode but Auto-Tuning has
not yet been performed.
Perform Auto-Tuning.
Calculate the motor value and reset the motor parameters.
Change the motor control method to V/f Control (A1-02 = 0).
Insufficient voltage insulation between motor phases.
When the motor cable is long, high voltage surges occur between the motor coils and drive switching.
Normally, surges can reach up to three times the drive input power supply voltage (600 V for 200 V class, and 1200 V
for 400 V class).
Use a motor with a voltage tolerance higher than the max voltage surge.
Use a motor designed to work specifically with a drive when using a 400 V class unit.
Install an AC reactor on the output side of the drive. The carrier frequency should be set to 2 kHz when installing
an AC reactor.
The motor fan has stopped or is clogged. Check the motor fan.
Cause Possible Solutions
The desired Auto-Tuning mode is not available for the selected
control mode.
Check if the desired tuning mode is available for the selected control mode. Refer to Auto-Tuning on page 114.
Change the motor control method by setting A1-02.
Cause Possible Solutions
Motor rated current and the motor no-load current setting in the
drive are incorrect.
The user is trying to set the motor rated current in E2-01 to a value lower than the no-load current set in E2-03.
Make sure that value set in E2-01 is higher than E2-03.
If it is necessary to set E2-01 lower than E2-03, first lower the value set to E2-03, then change the setting in E2-01
as needed.
Cause Possible Solutions
Torque limit has been reached or current suppression keeps the drive
from accelerating.
Take the following steps to resolve the problem:
Reduce the load.
Increase motor capacity.
Note: Although the drive has a Stall Prevention function and a Torque Compensation Limit function, accelerating too
quickly or trying to drive an excessively large load can exceed the capabilities of the motor.
Load is too heavy.
Torque limit is not set properly. Check the torque limit setting.
Frequency reference is too low.
Check the maximum output frequency (E1-04).
Increase E1-04 if it is set too low.
Check U1-01 for proper frequency reference.
Check if a frequency reference signal switch has been set to one of the multi-function input terminals.
Check for low gain level set to terminals A1, A2, or A3 (H3-03, H3-11, H3-07).
Load is too heavy.
Reduce the load so that the output current remains within the motor rated current.
In extruder and mixer applications, the load will sometimes increase as the temperature drops.
Increase the acceleration time.
Check if the mechanical brake is fully releasing as it should.
Acceleration time has been set too long. Check if the acceleration time parameters have been set too long (C1-01, C1-03, C1-05, C1-07).
Cause Possible Solutions
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Drive Frequency Reference Differs from the Controller Frequency Reference
Command
Excessive Motor Oscillation and Erratic Rotation
Deceleration Takes Longer Than Expected with Dynamic Braking Enabled
Load Falls When Brake is Applied (Hoist-Type Applications)
Motor characteristics and drive parameter settings are incompatible
with one another.
Set the correct V/f pattern so that it matches the characteristics of the motor being used.
Check the V/f pattern set to E1-03.
Execute Rotational Auto-Tuning.
Although the drive is operating in Open Loop Vector motor control
method, Auto-Tuning has not been performed.
Perform Auto-Tuning.
Calculate motor data and reset motor parameters.
Switch to V/f Control (A1-02 = 0).
Incorrect frequency reference setting.
Check the multi-function analog input settings. Multi-function analog input terminal A1, A2, or A3 is set for
frequency gain (H3-02, H3-10, or H3-06 is set to 1), but there is no voltage or current input provided.
Make sure H3-02, H3-10, and H3-06 are set to the proper values.
See if the analog input value is set to the right value (U1-13 to U1-15).
The Stall Prevention level during acceleration and deceleration set
too low.
Check the Stall Prevention level during acceleration (L3-02).
If L3-02 is set too low, acceleration may be taking too long.
Increase L3-02.
The Stall Prevention level during run has been set too low.
Check the Stall Prevention level during run (L3-06).
If L3-06 is set too low, speed will drop as the drive outputs torque.
Increase the setting value.
Drive reached the limitations of the V/f motor control method.
The motor cable may be long enough (over 50 m) to require Auto-Tuning for line-to-line resistance.
Be aware that V/f Control is comparatively limited when it comes to producing torque at low speeds.
Consider switching to Open Loop Vector Control.
Cause Possible Solutions
The analog input gain and bias for the frequency reference input
are set to incorrect values.
Check the gain and bias settings for the analog inputs that are used to set the frequency reference. Check parameters
H3-03 and H3-04 for input A1, check parameters H3-11 and H3-12 for input A2, and check parameters H3-07 and
H3-08 for input A3.
Set these parameters to the appropriate values.
A frequency bias signal is being entered via analog input terminals
A1 to A3.
If more than one of multi-function analog inputs A1 to A3 is set for frequency reference bias (H3-02, H3-10, or H3-06
is set to 0), then the sum of all signals builds the frequency reference.
Make sure that H3-02, H3-10, and H3-06 are set appropriately.
Check the input level set for terminals A1 to A3 (U1-13 to U1-15).
PID control is enabled, and the drive is consequently adjusting the
output frequency to match the PID setpoint. The drive will only
accelerate to the maximum output frequency set in E1-04 while
PID control is active.
If PID control is not necessary for the application, disable it by setting b5-01 to 0.
Cause Possible Solutions
Poor balance between motor phases. Check drive input power voltage to ensure that it provides stable power.
Hunting prevention function is disabled.
Enable Hunting Prevention (n1-01 = 1).
Increase the AFR gain (n2-01) or the AFR time constant (n2-02).
Cause Possible Solutions
L3-04 is set incorrectly.
Check the Stall Prevention level during deceleration (L3-04).
If a dynamic braking option has been installed, disable Stall Prevention during deceleration (L3-04 = 0).
The deceleration time is set too long. Set deceleration to more appropriate time (C1-02, C1-04, C1-06, C1-08).
Insufficient motor torque.
Assuming parameter settings are normal and that no overvoltage occurs when there is insufficient torque, it is likely
that the demand on the motor has exceeded the motor capacity.
Use a larger motor.
Reaching the torque limit.
Check the settings for the torque limit (L7-01 through L7-04).
If the torque limit is enabled, deceleration might take longer than expected because the drive cannot output more
torque than the limit setting. Ensure the torque limit is set to a high enough value.
Increase the torque limit setting.
If multi-function analog input terminal A1, A2, or A3 is set to torque limit (H3-02, H3-10, or H3-06 equals 10, 11, 12,
or 15), ensure that the analog input levels are set to the correct levels.
Ensure H3-02, H3-10, and H3-06 are set to the right levels.
Ensure the analog input is set to the correct value (U1-13 to U1-15).
Load exceeded the internal torque limit determined by the drive
rated current.
Switch to a larger capacity drive.
Cause Possible Solutions
The timing for the brake to close and release is not set properly. Refer to Notes on Controlling the Brake when Using the Hoist Application Preset on page 111.
Insufficient DC Injection Braking. Increase the amount of DC Injection Braking (b2-02).
Cause Possible Solutions
6.10 Troubleshooting without Fault Display
344 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Noise From Drive or Output Lines When the Drive is Powered On
Earth Leakage Circuit Breaker (ELCB) Trips During Run
Connected Machinery Vibrates When Motor Rotates
Unexpected Noise from Connected Machinery
Note: The drive may have trouble assessing the status of the load due to white noise generated from using Swing PWM (C6-02 = 7 to A).
Oscillation or Hunting
PID Output Fault
Insufficient Starting Torque
Cause Possible Solutions
Relay switching in the drive generates
excessive noise.
Lower the carrier frequency (C6-02).
Install a noise filter on the input side of drive input power.
Install a noise filter on the output side of the drive.
Place the wiring inside a metal conduit to shield it from switching noise.
Ground the drive and motor properly.
Separate the main circuit wiring and the control lines.
Make sure wires and the motor have been properly grounded.
Cause Possible Solutions
Excessive leakage current trips ELCB.
Increase the ELCB sensitivity or use ELCB with a higher threshold.
Lower the carrier frequency (C6-02).
Reduce the length of the cable used between the drive and the motor.
Install a noise filter or reactor on the output side of the drive. Set the carrier frequency to 2 kHz when connecting a reactor.
Cause Possible Solutions
The carrier frequency is at the resonant frequency of the connected
machinery.
Adjust the carrier frequency using parameters C6-02 through C6-05.
The drive output frequency is the same as the resonant frequency
of the connected machinery.
Adjust the parameters used for the Jump frequency function (d3-01 through d3-04) to skip the problem-causing
bandwidth.
Place the motor on a rubber pad to reduce vibration.
Cause Possible Solutions
Insufficient tuning.
Perform Auto-Tuning.
Refer to Motor Performance Fine-Tuning on page 300.
Gain is too low when using PID control. Refer to b5: PID Control on page 152 for details.
The frequency reference is assigned to an external source and the
signal is noisy.
Ensure that noise is not affecting the signal lines.
Separate main circuit wiring and control circuit wiring.
Use twisted-pair cables or shielded wiring for the control circuit.
Increase the analog input time filter constant (H3-13).
The cable between the drive and motor is too long.
Perform Auto-Tuning.
Reduce the length of the cable.
Cause Possible Solutions
No PID feedback input.
Check the multi-function analog input terminal settings.
Set multi-function analog input terminal A1, A2, or A3 for PID feedback (H3-02, H3-10, or H3-06 = B).
A signal input to the terminal selection for PID feedback is needed.
Check the connection of the feedback signal.
Check the various PID-related parameter settings.
No PID feedback input to the terminal causes the value detected to be 0, causing a PID fault and the drive to operate
at max frequency.
The level of detection and the target value do not correspond with
each other.
PID control keeps the difference between target and detection values at 0. Set the input level for the values relative to
one another.
Use analog input gains H3-03 and H3-11 to adjust PID target and feedback signal scaling.
Reverse drive output frequency and speed detection. When output
frequency rises, the sensor detects a speed decrease.
Set PID output for reverse characteristics (b5-09 = 1).
Adjustment made to PID parameter settings are insufficient. Refer to b5: PID Control on page 152 for details.
Cause Possible Solutions
Auto-Tuning has not yet been performed (required for vector
control modes).
Perform Auto-Tuning. Refer to Motor Performance Fine-Tuning on page 300.
The control mode was changed after performing Auto-Tuning. Perform Auto-Tuning again.
Only Stationary Auto-Tuning was performed. Perform Rotational Auto-Tuning.
6.10 Troubleshooting without Fault Display
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 345
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Motor Rotates After the Drive Output is Shut Off (Motor Rotates During DC Injection
Braking)
Output Frequency is not as High as Frequency Reference
Buzzing Sound from Motor at 2 kHz
Unstable Motor Speed when Using PM
Motor Does Not Restart after Power Loss
Cause Possible Solutions
DC Injection Braking is set too low and the drive cannot decelerate
properly.
Adjust the DC Injection braking settings.
Increase the current level for DC Injection Braking (b2-02).
Increase the DC Injection Braking time at stop (b2-04).
The stopping method is set so that the drive coasts to stop. Set b1-03 (Stopping Method Selection) to 0 or 2.
Cause Possible Solutions
Frequency reference is set within the range of the Jump frequency.
Adjust the parameters used for the Jump frequency function (d3-01, d3-02, d3-03).
Enabling the Jump frequency prevents the drive from outputting the frequencies specified in the Jump range.
Upper limit for the frequency reference has been exceeded.
Set the maximum output frequency and the upper limit for the frequency reference to more appropriate values (E1-
04, d2-01).
The following calculation yields the upper value for the output frequency = E1-04 x d2-01 / 100
Large load triggered Stall Prevention function during acceleration.
Reduce the load.
Adjust the Stall Prevention level during acceleration (L3-02).
Cause Possible Solutions
Exceeded 110% of the rated output current of the drive while
operating at low speeds.
If the output current rises too high at low speeds, the carrier frequency is automatically reduced and causes a whining
or buzzing sound.
If the sound is coming from the motor, disable carrier frequency derating (L8-38 = 0).
Disabling the automatic carrier frequency derating increases the chances of an overload fault (oL2). Switch to a larger
capacity motor if oL2 faults occur too frequently.
Cause Possible Solutions
The motor code for the PM motor (E5-01 or T2-02) is set
incorrectly (Yaskawa motors only).
Refer to Motor Performance Fine-Tuning on page 300 for details.
Drive is attempting to operate the motor beyond the speed control
range listed in the specifications.
Check the speed control range and adjust the speed accordingly.
Motor hunting occurs. Refer to Motor Performance Fine-Tuning on page 300 for details.
Hunting occurs at start. Increase the S-curve time at the start of acceleration (C2-01).
Too much current is flowing through the drive.
Enter the correct motor code for the PM motor being used into E5-01.
For special-purpose motors, enter the correct data to all E5 parameters according to the test report provided for the
motor.
Cause Possible Solutions
The Run command was not issued again when power was restored.
Check the sequence and wiring that has been set up to enter the Run command.
A relay should be set up to make sure the Run command remains enabled throughout any power loss.
The relay that is supposed to maintain the Run command has been
switched off.
Check wiring and circuitry for the relay intended to keep the Run command enabled.
6.10 Troubleshooting without Fault Display
346 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
7
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 347
Periodic Inspection & Maintenance
This chapter describes the periodic inspection and maintenance of the drive to ensure that it
receives the proper care to maintain overall performance.
7.1 SECTION SAFETY. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348
7.2 INSPECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351
7.3 PERIODIC MAINTENANCE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
7.4 COOLING FAN AND CIRCULATION FAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355
7.5 DRIVE REPLACEMENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373
348 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
7.1 Section Safety
7.1 Section Safety
DANGER
Electrical Shock Hazard
Do not connect or disconnect wiring while the power is on.
Failure to comply will result in death or serious injury.
Before servicing, disconnect all power to the equipment. The internal capacitor remains charged even after the power
supply is turned off. The charge indicator LED will extinguish when the DC bus voltage is below 50 Vdc. To prevent
electric shock, wait for at least the time specified on the warning label once all indicators are OFF, and then measure
the DC bus voltage level to confirm it has reached a safe level.
Never connect or disconnect wiring, remove connectors or option cards, or replace the cooling fan while the
power is on.
Failure to comply will result in death or serious injury.
Before servicing, disconnect all power to the equipment. The internal capacitor remains charged even after the power
supply is turned off.
W ARNING
Electrical Shock Hazard
Do not operate equipment with covers removed.
Failure to comply could result in death or serious injury.
The diagrams in this section may show drives without covers or safety shields to show details. Be sure to reinstall
covers or shields before operating the drives and run the drives according to the instructions described in this manual.
Always ground the motor-side grounding terminal.
Improper equipment grounding could result in death or serious injury by contacting the motor case.
Do not remove covers or touch circuit boards while the power is on.
Failure to comply could result in death or serious injury.
Do not allow unqualified personnel to perform work on the drive.
Failure to comply could result in death or serious injury.
Installation, maintenance, inspection, and servicing must be performed only by authorized personnel familiar with
installation, adjustment, and maintenance of AC drives.
Do not perform work on the drive while wearing loose clothing, jewelry or without eye protection.
Failure to comply could result in death or serious injury.
Remove all metal objects such as watches and rings, secure loose clothing, and wear eye protection before beginning
work on the drive.
Do not touch any terminals before the capacitors have fully discharged.
Failure to comply could result in death or serious injury.
Before wiring terminals, disconnect all power to the equipment. The internal capacitor remains charged even after the
power supply is turned off. After shutting off the power, wait for at least the amount of time specified on the drive
before touching any components.
7.1 Section Safety
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 349
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Fire Hazard
Tighten all terminal screws to the specified tightening torque.
Loose electrical connections could result in death or serious injury by fire due to overheating of electrical connections.
Do not use an improper voltage source.
Failure to comply could result in death or serious injury by fire.
Verify that the rated voltage of the drive matches the voltage of the incoming power supply before applying power.
Do not use improper combustible materials.
Failure to comply could result in death or serious injury by fire.
Attach the drive to metal or other noncombustible material.
NOTICE
Observe proper electrostatic discharge procedures (ESD) when handling the drive and circuit boards.
Failure to comply may result in ESD damage to the drive circuitry.
Follow cooling fan replacement instructions. The cooling fan cannot operate properly when it is installed
incorrectly and could seriously damage the drive.
Follow the instructions in this manual to replace the cooling fan, making sure that the label is on top before inserting
the cooling fan into the drive. To ensure maximum useful product life, replace both cooling fans when performing
maintenance.
Never connect or disconnect the motor from the drive while the drive is outputting voltage.
Improper equipment sequencing could result in damage to the drive.
Do not use unshielded cable for control wiring.
Failure to comply may cause electrical interference resulting in poor system performance. Use shielded, twisted-pair
wires and ground the shield to the ground terminal of the drive.
Do not allow unqualified personnel to use the product.
Failure to comply could result in damage to the drive or braking circuit.
Maintenance, inspection, and replacement of parts must be performed only by authorized personnel familiar with
installation, adjustment and maintenance of AC drives.
Do not modify the drive circuitry.
Failure to comply could result in damage to the drive and will void warranty.
Yaskawa is not responsible for any modification of the product made by the user. This product must not be modified.
Check all the wiring to ensure that all connections are correct after installing the drive and connecting any other
devices.
Failure to comply could result in damage to the drive.
Comply with proper wiring practices.
The motor may run in reverse if the phase order is backward.
Connect motor input terminals U, V and W to drive output terminals U/T1,V/T2, and W/T3. The phase order for the
drive and motor should match.
W ARNING
7.1 Section Safety
350 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Frequently switching the drive power supply to stop and start the motor can damage the drive.
To get the full performance life out of the electrolytic capacitors and circuit relays, refrain from switching the drive
power supply off and on more than once every 30 minutes. Frequent use can damage the drive. Use the drive to stop
and start the motor.
Do not operate damaged equipment.
Failure to comply could result in further damage to the equipment.
Do not connect or operate any equipment with visible damage or missing parts.
NOTICE
7.2 Inspection
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7.2 Inspection
Power electronics have limited life and may exhibit changes in characteristics or performance deterioration after years of
use under normal conditions. To help avoid such problems, it is important to perform preventive maintenance and
periodic inspection on the drive.
Drives contain a variety of power electronics such as power transistors, semiconductors, capacitors, resistors, fans, and
relays. The electronics in the drive serve a critical role in maintaining proper motor control.
Follow the inspection lists provided in this chapter as a part of a regular maintenance program.
Note: The drive will require more frequent inspection if it is placed in harsh environments, such as:
High ambient temperatures
Frequent starting and stopping
Fluctuations in the AC supply or load
Excessive vibrations or shock loading
Dust, metal dust, salt, sulfuric acid, chlorine atmospheres
Poor storage conditions.
Perform the first equipment inspection one to two years after installation.
Recommended Daily Inspection
Table 7.1 outlines the recommended daily inspection for Yaskawa drives. Check the following items on a daily basis to
avoid premature deterioration in performance or product failure. Copy this checklist and mark the Checked column
after each inspection.
Table 7.1 General Recommended Daily Inspection Checklist
Inspection Category Inspection Points Corrective Action Checked
Motor Inspect for abnormal oscillation or noise coming from the motor.
Check the load coupling.
Measure motor vibration.
Tighten all loose components.
Cooling
Inspect for abnormal heat generated from the drive or motor and
visible discoloration.
Check for excessive load.
Loose connections
Check for dirty heatsink or motor.
Ambient temperature
Inspect drive cooling fan and circulation fan operation.
Check for clogged or dirty fan.
Check fan operation drive parameter.
Environment
Verify the drive environment complies with the specifications listed
in Installation Environment on page 42.
Eliminate the source of contaminants or correct poor
environment.
Load
The drive output current should not be higher than the motor or drive
rating for an extended period of time.
Check for excessive load.
Check the motor parameter settings of the drive.
Power Supply Voltage Check main power supply and control voltages.
Correct the voltage or power supply to within nameplate
specifications.
Verify all main circuit phases.
7.2 Inspection
352 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Recommended Periodic Inspection
Table 7.2 outlines the recommended periodic inspections for Yaskawa drive installations. Although periodic inspections
should generally be performed once a year; the drive may require more frequent inspection in harsh environments or with
rigorous use. Operating and environmental conditions, along with experience in each application, will determine the
actual inspection frequency for each installation. Periodic inspection will help to avoid premature deterioration in
performance or product failure. Copy this checklist and mark the Checked column after each inspection.
Periodic Inspection
WARNING! Electrical Shock Hazard. Do not inspect, connect, or disconnect any wiring while the power is on. Failure to comply can
result in serious personal injury. Before servicing the drive, disconnect all power to the equipment. The internal capacitor remains
charged even after the power supply is turned off. After shutting off the power, wait for at least the amount of time specified on the drive
before touching any components.
Table 7.2 Periodic Inspection Checklist
Inspection Area Inspection Points Corrective Action Checked
Main Circuit Periodic Inspection
General
Inspect equipment for discoloration from overheating or
deterioration.
Inspect for damaged or deformed parts.
Replace damaged components as required.
The drive has few serviceable parts and may require complete
drive replacement.
Inspect for dirt, foreign particles, or dust collection on
components.
Inspect enclosure door seal if used.
Use dry air to clear away foreign matter. Use a pressure of
39.2 10
4
to 58.8 10
4
Pa (4 - 6 kgcm
2
).
Replace components if cleaning is not possible.
Conductors and Wiring
Inspect wiring and connections for discoloration, damage, or heat
stress.
Inspect wire insulation and shielding for wear.
Repair or replace damaged wiring.
Terminals Inspect terminals for stripped, damaged, or loose connections.
Tighten loose screws and replace damaged screws or
terminals.
Relays and Contactors
Inspect contactors and relays for excessive noise during operation.
Inspect coils for signs of overheating such as melted or cracked
insulation.
Check coil voltage for over or under voltage conditions.
Replace damaged removable relays contactors or circuit
board.
Braking Resistors Inspect for discoloration of heat stress on or around resistors.
Minor discoloration may be acceptable.
If discoloration exists check for loose connections.
Electrolytic Capacitor
Inspect for leaking, discoloration, or cracks.
Check if the cap has come off, for any swelling, or if the sides
have burst open.
The drive has few serviceable parts and may require complete
drive replacement.
Diode, IGBT (Power
Transistor)
Inspect for dust or other foreign material collected on the surface.
Use dry air to clear away foreign matter. Use a pressure of
39.2 10
4
to 58.8 10
4
Pa (4 - 6 kgcm
2
).
Motor Periodic Inspection
Operation Check Check for increased vibration or abnormal noise.
Stop the motor and contact qualified maintenance personnel
as required.
Control Circuit Periodic Inspection
General
Inspect terminals for stripped, damaged, or loose connections.
Make sure all terminals have been properly tightened.
Tighten loose screws and replace damaged screws or
terminals.
If terminals are integral to a circuit board, then board or drive
replacement may be required.
Circuit Boards
Check for any odor, discoloration, and rust. Make sure
connections are properly fastened and that no dust or oil mist has
accumulated on the surface of the board.
Fix any loose connections.
If an antistatic cloth or vacuum plunger can't be used, replace
the board.
Do not use any solvents to clean the board.
Use dry air to clear away foreign matter. Use a pressure of
39.2 10
4
to 58.8 10
4
Pa (4 - 6 kgcm
2
).
The drive has few serviceable parts and may require complete
drive replacement.
Cooling System Periodic Inspection
Cooling Fan,
Circulation Fan
Control Board Cooling Fan
Check for abnormal oscillation or unusual noise.
Check for damaged or missing fan blades.
Replace as required.
Refer to Cooling Fan and Circulation Fan on page 355 for
information on cleaning or replacing the fan.
Heatsink Inspect for dust or other foreign material collected on the surface.
Use dry air to clear away foreign matter.
Use a pressure of 39.2 10
4
to 58.8 10
4
Pa (4 - 6 kgcm
2
).
Air Duct
Inspect air intake and exhaust openings. They must be free from
obstruction and properly installed.
Visually inspect the area.
Clear obstructions and clean air duct as required.
Display Periodic Inspection
Digital Operator
Make sure data appears on the operator properly.
Inspect for dust or other foreign material that may have collected
on surrounding components.
Contact your Yaskawa representative if there is any trouble
with the display or keypad.
Clean the digital operator.
7.3 Periodic Maintenance
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7.3 Periodic Maintenance
The drive has Maintenance Monitors that keep track of component wear. This feature provides advance maintenance
warning and eliminates the need to shut down the entire system for unexpected problems. The drive allows the user to
check predicted maintenance periods for the components listed below.
Cooling Fan, Circulation Fan, Control Board Cooling Fan
Electrolytic Capacitors
Inrush Prevention Circuit
IGBTs
For replacement parts, contact the distributor where the drive was purchased or contact Yaskawa directly.
Replacement Parts
Table 7.3 contains the estimated performance life of components that require replacement during the life of the drive.
Only use Yaskawa replacement parts for the appropriate drive model and revision.
Table 7.3 Estimated Performance Life
NOTICE: Estimated performance life based on specific usage conditions. These conditions are provided for the purpose of replacing
parts to maintain performance. Some parts may require more frequent replacement due to poor environments or rigorous use. Usage
conditions for estimated performance life:
Ambient temperature: Yearly average of 40C (IP00 enclosure)
Load factor: 80% maximum
Operation time: 24 hours a day
Performance Life Monitors Maintenance Monitors
The drive calculates the maintenance period for components that may require replacement during the life of the drive. A
percentage of the maintenance period is displayed on the digital operator by viewing the appropriate monitor parameter.
When the maintenance period reaches 100%, there is increased risk that the drive may malfunction. Yaskawa
recommends checking the maintenance period regularly to ensure maximum performance life.
Refer to Recommended Periodic Inspection on page 352 for more details.
Table 7.4 Performance Life Monitors Used for Component Replacement
Alarm Outputs for Maintenance Monitors
An output can be set up to inform the user when a specific components has neared its expected performance life.
When one of multi-function digital output terminals has been assigned the maintenance monitor function (H2- = 2F),
the terminal will close when the cooling fan, DC bus capacitors, or DC bus pre-charge relay reach 90% of the expected
performance life, or the IGBTs have reached 50% of their expect performance life. Additionally the digital operator will
display an alarm like shown in Table 7.5 to indicate the specific components that may need maintenance.
Table 7.5 Maintenance Alarms
Component Estimated Performance Life
Cooling Fan, Circulation Fan 10 years
Electrolytic Capacitors 10 years <1>
<1> The drive has few serviceable parts and may require complete drive replacement.
Parameter Component Contents
U4-03
Cooling Fan, Circulation Fan,
Control Board Cooling Fan
Displays the accumulated operation time of the fan, from 0 to 99999 hours. This value is automatically reset to 0 once it
reaches 99999.
U4-04 Displays the accumulated fan operation time as a percentage of the specified maintenance period.
U4-05 DC Bus Capacitors Displays the accumulated time the capacitors are used as a percentage of the specified maintenance period.
U4-06 Inrush (pre-charge) Relay Displays the number of times the drive is powered up as a percentage of the performance life of the inrush circuit.
U4-07 IGBT Displays the percentage of the maintenance period reached by the IGBTs.
Alarm Display Function Corrective Action
<1>
LT-1 The cooling fans have reached 90% of their designated life time. Replace the cooling fan.
<1>
LT-2
The DC bus capacitors have reached 90% of their designated life
time.
Replace the drive.
<1>
LT-3
The DC bus charge circuit has reached 90% of its designated life
time.
Replace the drive.
7.3 Periodic Maintenance
354 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Related Drive Parameters
Parameters o4-03, o4-05, o4-07, and o4-09 can be used to reset a Maintenance Monitor back to zero after a specific
component has been replaced. Refer to Parameter Table on page 408 for details on parameter settings.
NOTICE: If these parameters are not reset after the corresponding parts have been replaced, the Maintenance Monitor function will
continue to count down the performance life from the value that was reached with the old part. If the Maintenance Monitor is not reset,
the drive will not have the correct value of the performance life for the new component.
<1>
LT-4 The IGBTs have reached 50% of their designated life time. Check the load, carrier frequency, and output frequency.
<2>
TrPC The IGBTs have reached 90% of their designated life time. Replace the drive.
<1> This alarm message will be output only if the Maintenance Monitor function is assigned to one of the digital outputs (H2- = 2F). The alarm
will also trigger a digital output that is programmed for alarm indication (H2- = 10).
<2> This alarm message will always be output, even if the Maintenance Monitor function is not assigned to any of the digital outputs (H2- =
2F). The alarm will also trigger a digital output that is programmed for alarm indication (H2- = 10).
Alarm Display Function Corrective Action
7.4 Cooling Fan and Circulation Fan
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7.4 Cooling Fan and Circulation Fan
NOTICE: Follow cooling fan replacement instructions. The cooling fan cannot operate properly when installed incorrectly and could
seriously damage the drive. To ensure maximum useful product life, replace all cooling fans when performing maintenance.
Contact your Yaskawa representative or the nearest Yaskawa sales office to order replacement cooling fans as required.
For drives with multiple cooling fans, replace all the fans when performing maintenance to ensure maximum product
performance life.
Number of Fan
Three-Phase 200 V Class Three-Phase 400 V Class
Model
CIMR-A
Cooling Fan Circulation Fan Page
Model
CIMR-A
Cooling Fan Circulation Fan
Control Board
Cooling Fan
Page
2A0004 4A0002
2A0006 4A0004
2A0008 4A0005
2A0010 4A0007 1
357
2A0012 4A0009 1
2A0018 1
357
4A0011 1
2A0021 1 4A0018 2
2A0030 2 4A0023 2
2A0040 2 4A0031 2
2A0056 2 4A0038 2
2A0069 2 4A0044 2
2A0081 2 4A0058 2
359
2A0110 2
359
4A0072 2
2A0138 2 4A0088 2
361
2A0169 2
363
4A0103 2
2A0211 2 4A0139 2
363
2A0250 2 4A0165 2
2A0312 2 4A0208 2
2A0360 3 1 4A0250 3
2A0415 3 1 4A0296 3
- 4A0362 3 1
- 4A0414 3 1 367
- 4A0515 3 2 2
369
- 4A0675 3 2 2
7.4 Cooling Fan and Circulation Fan
356 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Cooling Fan Component Names
WARNING! Electrical Shock Hazard. Do not connect or disconnect wiring while the power is on. Failure to comply can result in serious
personal injury. Before servicing the drive, disconnect all power to the equipment. The internal capacitor remains charged even after
the power supply is turned off. After shutting off the power, wait for at least the amount of time specified on the drive before touching
any components.
CAUTION! Burn Hazard. Do not touch a hot drive heatsink. Failure to comply could result in minor or moderate injury. Shut off the
power to the drive when replacing the cooling fan. To prevent burns, wait at least 15 minutes and ensure the heatsink has cooled
down.
Figure 7.1
Figure 7.1 Cooling Fan Component Names
A Fan Cover F Circulation Fan Base
B Fan Guard G Circulation Fan
C Cable Cover H Circuit Board Cooling Fan
D Cooling Fan I Circuit Board Cooling Fan Unit Case
E Fan Unit Case
E
G
F
D
B
D
E
H
G
I
C
E
G
D
B
A
2A0018 to 2A0081
4A0007 to 2A0044
2A0110 to 2A0138
4A0058 to 4A0103
2A0169 to 2A0415
4A0139 to 4A0362
4A0414 4A0515, 4A0675
D A
D
YEC_TM
only
7.4 Cooling Fan and Circulation Fan
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Cooling Fan Replacement: 2A0018 to 2A0081 and 4A0007 to 4A0044
WARNING! Electrical Shock Hazard. Do not connect or disconnect wiring while the power is on. Failure to comply can result in serious
personal injury. Before servicing the drive, disconnect all power to the equipment. The internal capacitor remains charged even after
the power supply is turned off. After shutting off the power, wait for at least the amount of time specified on the drive before touching
any components.
CAUTION! Burn Hazard. Do not touch a hot drive heatsink. Failure to comply could result in minor or moderate injury. Shut off the
power to the drive when replacing the cooling fan. To prevent burns, wait at least 15 minutes and ensure the heatsink has cooled
down.
NOTICE: Prevent Equipment Damage. Follow cooling fan and circulation fan replacement instructions. Improper fan replacement
could result in damage to equipment. When installing the replacement fan into the drive, make sure the fan is facing upwards. To
ensure maximum useful product life, replace all fans when performing maintenance.
Removing the Cooling Fan
1. Depress the right and left sides of the fan cover hooks and pull upward. Remove the fan cover from the top of the
drive.
Figure 7.2
Figure 7.2 Removing the Fan Cover: 2A0018 to 2A0081, 4A0007 to 4A0044
2. Remove the cooling fan cartridge. Disconnect the pluggable connector and remove the fan.
Figure 7.3
Figure 7.3 Removing the Cooling Fan: 2A0018 to 2A0081, 4A0007 to 4A0044
YEC_
TMon
ly
YEC_
TMon-
ly
7.4 Cooling Fan and Circulation Fan
358 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Installing the Cooling Fan
Reverse the procedure described above to reinstall the cooling fan.
1. Install the replacement fan into the drive, ensuring the alignment pins line up as shown in the figure below.
Figure 7.4
Figure 7.4 Installing the Cooling Fan: 2A0018 to 2A0081, 4A0007 to 4A0044
2. Make sure the power lines for the fan are properly connected, then place the cable back into the recess of the
drive.
Figure 7.5
Figure 7.5 Cooling Fan Power Supply Connectors: 2A0018 to 2A0081, 4A0007 to 4A0044
3. While pressing in on the hooks on the left and right sides of the fan cover, guide the fan cover until it clicks back
into place.
Figure 7.6
Figure 7.6 Reattach the Fan Cover: 2A0018 to 2A0081, 4A0007 to 4A0044
4. Turn the power supply back on and reset the cooling fan operation time for the Maintenance Monitor by setting
o4-03 to 0.
A Push the connectors together so
no space remains between them.
C Make sure the alignment pins
line up properly.
B Label facing up
A Back B Front
A
B
C
YEC_TM
only
A
B
YEC_TMonly
YEC_
TMon
ly
7.4 Cooling Fan and Circulation Fan
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 359
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Cooling Fan Replacement: 2A0110 and 2A0138, 4A0058 and 4A0072
WARNING! Electrical Shock Hazard. Do not connect or disconnect wiring while the power is on. Failure to comply can result in serious
personal injury. Before servicing the drive, disconnect all power to the equipment. The internal capacitor remains charged even after
the power supply is turned off. After shutting off the power, wait for at least the amount of time specified on the drive before touching
any components.
CAUTION! Burn Hazard. Do not touch a hot drive heatsink. Failure to comply could result in minor or moderate injury. Shut off the
power to the drive when replacing the cooling fan. To prevent burns, wait at least 15 minutes and ensure the heatsink has cooled
down.
NOTICE: Prevent Equipment Damage. Follow cooling fan and circulation fan replacement instructions. Improper fan replacement
could result in damage to equipment. When installing the replacement fan into the drive, make sure the fan is facing upwards. To
ensure maximum useful product life, replace all fans when performing maintenance.
Removing the Cooling Fan
1. While pressing in on the hooks located on the left and right sides of the fan cover, free the fan cover leading by
lifting the back end first.
Figure 7.7
Figure 7.7 Removing the Cooling Fan Cover: 2A0110 and 2A0138, 4A0058 and 4A0072
2. Lift the fan cover out leading with the back end. Unplug the replay connector and free the fan cover from the
drive.
Figure 7.8
Figure 7.8 Removing the Cooling Fan: 2A0110 and 2A0138, 4A0058 and 4A0072
YEC_
TMonly
Lift the fan cover out of the drive
leading with the back end.
YEC_TMonly
7.4 Cooling Fan and Circulation Fan
360 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Installing the Cooling Fan
Reverse the procedure described above to reinstall the cooling fan.
1. Make sure the power lines for the fan are properly connected.
2. Place the power supply connectors and cable back into the recess of the drive.
Figure 7.9
Figure 7.9 Cooling Fan Power Supply Connectors: 2A0110 and 2A0138, 4A0058 and 4A0072
3. Install the replacement fan into the drive.
Figure 7.10
Figure 7.10 Installing the Cooling Fan: 2A0110 and 2A0138, 4A0058 and 4A0072
4. Angle the fan cover so the back end tilts up. Slide the cover into the small opening towards the front of the drive,
and then guide the entire fan cover into place.
Figure 7.11
Figure 7.11 Reattach the Fan Cover: 2A0110 and 2A0138, 4A0058 and 4A0072
A Back B Front
A
B
YEC_TMonly
Insert the fan at an angle so that
it tilts towards the front of the
drive. Next press down on the
back of the fan that still protrudes
from the drive so that the fan
snaps into place.
YEC_TM
only
Insertion area
Front of drive Back of drive
Front of drive
Fan cover Back of drive
Hook Hook
Cross-Section
YEC_
TMonly
7.4 Cooling Fan and Circulation Fan
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5. While pressing in on the hooks on the left and right sides of the fan cover, guide the fan cover until it clicks back
into place.
Figure 7.12
Figure 7.12 Reattach the Fan Cover: 2A0110 and 2A0138, 4A0058 and 4A0072
6. Turn the power supply back on and reset the cooling fan operation time for the Maintenance Monitor by setting
o4-03 to 0.
Cooling Fan Replacement: 4A0088 and 4A0103
WARNING! Electrical Shock Hazard. Do not connect or disconnect wiring while the power is on. Failure to comply can result in serious
personal injury. Before servicing the drive, disconnect all power to the equipment. The internal capacitor remains charged even after
the power supply is turned off. After shutting off the power, wait for at least the amount of time specified on the drive before touching
any components.
CAUTION! Burn Hazard. Do not touch a hot drive heatsink. Failure to comply could result in minor or moderate injury. Shut off the
power to the drive when replacing the cooling fan. To prevent burns, wait at least 15 minutes and ensure the heatsink has cooled
down.
NOTICE: Prevent Equipment Damage. Follow cooling fan and circulation fan replacement instructions. Improper fan replacement
could result in damage to equipment. When installing the replacement fan into the drive, make sure the fan is facing upwards. To
ensure maximum useful product life, replace all fans when performing maintenance.
Removing the Cooling Fan
1. While pressing in on the hooks located on the left and right sides of the fan cover, free the fan cover leading by
lifting the back end first.
Figure 7.13
Figure 7.13 Removing the Cooling Fan Cover: 4A0088 and A0103
2. Lift the cooling fan directly up on the fan as shown below. Unplug the relay connector and free the fan from the
drive.
Figure 7.14
Figure 7.14 Removing the Cooling Fan: 4A0088 and 4A0103
YEC_
TMonly
YEC_
TMonly
YEC_
TMonly
7.4 Cooling Fan and Circulation Fan
362 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Installing the Cooling Fan
Reverse the procedure described above to reinstall the cooling fan.
1. Install the replacement fan into the drive, ensuring the alignment pins line up as shown in the figure below.
Figure 7.15
Figure 7.15 Installing the Cooling Fan: 4A0088 and 4A0103
2. Make sure the power lines for the fan are properly connected, then place the power supply connectors and cable
back into the recess of the drive.
Figure 7.16
Figure 7.16 Cooling Fan Power Supply Connectors: 4A0088 and 4A0103
3. Angle the fan cover as shown and insert the connector tabs into the corresponding holes on the drive.
Figure 7.17
Figure 7.17 Reattach the Fan Cover: 4A0088 and 4A0103
A Back B Front
YEC_TM
only
A
B
YEC_TMonly
Front of Drive
Back or Drive
Hook
Fan cover
Hook
Four tabs
Holes for connector tabs.
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4. While pressing in on the hooks on the left and right sides of the fan cover, guide the fan cover until it clicks back
into place.
Figure 7.18
Figure 7.18 Reattach the Fan Cover: 4A0088 and 4A0103
5. Turn the power supply back on and reset the cooling fan operation time for the Maintenance Monitor by setting
o4-03 to 0.
Cooling Fan Replacement: 2A0169 to 2A0415, 4A0139 to 4A0362
WARNING! Electrical Shock Hazard. Do not connect or disconnect wiring while the power is on. Failure to comply can result in serious
personal injury. Before servicing the drive, disconnect all power to the equipment. The internal capacitor remains charged even after
the power supply is turned off. After shutting off the power, wait for at least the amount of time specified on the drive before touching
any components.
CAUTION! Burn Hazard. Do not touch a hot drive heatsink. Failure to comply could result in minor or moderate injury. Shut off the
power to the drive when replacing the cooling fan. To prevent burns, wait at least 15 minutes and ensure the heatsink has cooled
down.
NOTICE: Prevent Equipment Damage. Follow cooling fan and circulation fan replacement instructions. Improper fan replacement
could result in damage to equipment. When installing the replacement fan into the drive, make sure the fan is facing upwards. To
ensure maximum useful product life, replace all fans when performing maintenance.
Removing and Disassembling the Cooling Fan Unit
1. Remove the terminal cover and front cover.
2. Remove the fan connector (CN6). Remove the fan connector (CN6, CN7) in models 2A0360, 2A0415 and
4A0362.
Figure 7.19
Figure 7.19 Cooling Fan Replacement: Fan Unit and Connectors
A Fan Unit D Circulation Fan Relay Cable
B Fan Relay Cable E Fan Connector (CN7)
C Fan Connector (CN6)
YEC_
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A A
B
C
C
2A0169, 2A0211,
4A0139, 4A0165
2A0360, 2A0415,
4A0250, 4A0296, 4A0362
2A0250, 2A0312, 4A0208
A
B
D
E
C
B
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7.4 Cooling Fan and Circulation Fan
364 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
3. Remove the screws holding the fan unit in place and slide the fan unit out of the drive.
Figure 7.20
Figure 7.20 Removing the Fan Unit: 2A0169 to 2A0415, 4A0139 to 4A0362
4. Remove the fan guard and replace the cooling fans.
Note: Make sure the fan cable does not get pinched between parts when reassembling the fan unit.
Figure 7.21
Figure 7.21 Fan Unit Disassembly: 2A0165 to 2A0415, 4A0139 to 4A0362
Cooling Fan Wiring: 2A0169, 2A0211, 4A0139 and 4A0165
1. Position the protective tube so that the fan connector sits in the center of the protective tube.
A Fan Guard C Cooling Fan
B Cable Cover D Circulation Fan
YEC_
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C
A A
C
D
B B
4A0250, 4A0296 2A0360, 2A0415,
4A0362
A
C
2A0169, 2A0211, 2A0250, 2A0312,
4A0139, 4A0165, 4A0208
YEC_
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Protective tube
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7.4 Cooling Fan and Circulation Fan
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 365
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2. Place the fan connector covered by the tube as shown in the drawings below.
Figure 7.22
Figure 7.22 Cooling Fan Wiring: 2A0169, 2A0211, 4A0139 and 4A0165
3. Make sure that the protective tube does not stick out beyond the fan guard.
Cooling Fan Wiring: 2A0250, 2A0312 and 4A0208
1. Position the protective tube so that the fan connector sits in the center of the protective tube.
2. Place the connector for fan B2 before the B1 connector and guide the lead wire for fan B2 so that it is held in
place by the cable hook.
Figure 7.23
Figure 7.23 Cooling Fan Wiring: 2A0250, 2A0312 and 4A0208
3. Make sure that the protective tube does not stick out beyond the fan guard.
2A0169, 2A0211, 4A0139 4A0165
Connector for fan B1
Fan B1 Fan B2
Connector for fan B2
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Cable hook
Connector for fan B2 Connector for fan B1
Fan B2 Fan B1
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7.4 Cooling Fan and Circulation Fan
366 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Cooling Fan Wiring: 2A0360, 2A0415, 4A0250 to 4A0362
1. Position the protective tube so that the fan connector sits in the center of the protective tube.
2. The fan connector for fan B2 should be placed in front of the fan B1 connector between fans B1 and B2.
3. The connector for fan B3 should be pressed in between fan B2 and B3.
Figure 7.24
Figure 7.24 Cooling Fan Wiring: 2A0360, 2A0415, 4A0250 to 4A0362
4. Double check the relay connector to ensure that it is properly connected.
5. Reattach the cable cover to its original position and tighten the screws so that the fan guard holds the cable
cover in place.
Note: Make sure the fan cable does not get pinched between parts when reassembling the fan unit.
Installing the Cooling Fan Unit
1. Reverse the procedure described above to reinstall the cooling fan unit.
Figure 7.25
Figure 7.25 Installing the Cooling Fan Unit: 2A0165 to 2A0415, 4A0139 to 4A0362
2. Reattach the covers and digital operator.
3. Turn the power supply back on and reset the cooling fan operation time for the Maintenance Monitor by setting
o4-03 to 0.
Protective tube
YEC_
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Cable cover
Fan B3
Fan B2
Connector for fan
Connector for fan B1
Connector for fan B2
Fan B1
YEC_TMonly
YEC_
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7.4 Cooling Fan and Circulation Fan
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 367
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Cooling Fan Replacement: 4A0414
WARNING! Electrical Shock Hazard. Do not connect or disconnect wiring while the power is on. Failure to comply can result in serious
personal injury. Before servicing the drive, disconnect all power to the equipment. The internal capacitor remains charged even after
the power supply is turned off. After shutting off the power, wait for at least the amount of time specified on the drive before touching
any components.
CAUTION! Burn Hazard. Do not touch a hot drive heatsink. Failure to comply could result in minor or moderate injury. Shut off the
power to the drive when replacing the cooling fan. To prevent burns, wait at least 15 minutes and ensure the heatsink has cooled
down.
NOTICE: Prevent Equipment Damage. Follow cooling fan and circulation fan replacement instructions. Improper fan replacement
could result in damage to equipment. When installing the replacement fan into the drive, make sure the fan is facing upwards. To
ensure maximum useful product life, replace all fans when performing maintenance.
Removing and Disassembling the Cooling Fan Unit
1. Remove the terminal cover and front cover 1 and 2.
2. Remove the fan connector (CN6).
Figure 7.26
Figure 7.26 Component Names: 4A0414
3. Remove the circulation fan relay cable from the hook. Remove the fan connector (CN7).
4. Remove the screws holding the fan units in place and slide the fan units out of the drive.
Figure 7.27
Figure 7.27 Removing the Fan Unit: 4A0414
A Fan Unit E Fan Relay Cable
B Circulation Fan Unit F Fan Connector (CN6)
C Circulation Fan G Hook
D Circulation Fan Relay Cable H Fan Connector (CN7)
A
F
E
C
B
G
D
H
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7.4 Cooling Fan and Circulation Fan
368 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
5. Remove the fan guard and circulation fan casing. Replace the cooling fans.
Figure 7.28
Figure 7.28 Fan Unit Disassembly: 4A0414
Cooling Fan Wiring
1. Position the protective tube so that the fan connector sits in the center of the protective tube.
2. Place the fan connector covered by the tube as shown in the drawings below.
Figure 7.29
Figure 7.29 Cooling Fan Wiring: 4A0414
3. Double check the relay connector to ensure that it is properly connected.
A Fan Guard D Circulation Fan Base
B Cooling Fan E Circulation Fan
C Fan Unit Case
A
B
C
D
E
YEC_TMonly
Protective tube
YEC_TMon
ly
Cooling Fan B1 Cooling Fan B2 Cooling Fan B3
Connector
for fan B1
Connector
for fan B2
Connector
for fan B3
YEC_TMonly
7.4 Cooling Fan and Circulation Fan
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 369
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Installing the Cooling Fan Unit
1. Reverse the procedure described above to reinstall the cooling fan unit.
Figure 7.30
Figure 7.30 Installing the Cooling Fan Unit: 4A0414
2. Reattach the covers and digital operator.
3. Turn the power supply back on and reset the cooling fan operation time for the Maintenance Monitor by setting
o4-03 to 0.
Cooling Fan Replacement: 4A0515 and 4A0675
WARNING! Electrical Shock Hazard. Do not connect or disconnect wiring while the power is on. Failure to comply can result in serious
personal injury. Before servicing the drive, disconnect all power to the equipment. The internal capacitor remains charged even after
the power supply is turned off. After shutting off the power, wait for at least the amount of time specified on the drive before touching
any components.
CAUTION! Burn Hazard. Do not touch a hot drive heatsink. Failure to comply could result in minor or moderate injury. Shut off the
power to the drive when replacing the cooling fan. To prevent burns, wait at least 15 minutes and ensure the heatsink has cooled
down.
NOTICE: Prevent Equipment Damage. Follow cooling fan and circulation fan replacement instructions. Improper fan replacement
could result in damage to equipment. When installing the replacement fan into the drive, make sure the fan is facing upwards. To
ensure maximum useful product life, replace all fans when performing maintenance.
Removing and Disassembling the Cooling Fan Unit
1. Remove the terminal cover and front cover 1 and 2.
2. Remove the connectors for the cooling fan relay and the circuit board cooling fan.
Figure 7.31
Figure 7.31 Component Names: 4A0515 and 4A0675
A Fan Unit E Hook
B Fan Relay Connector F Circuit Board Cooling Fan Connector
C Circuit Board Cooling Fan G Circuit Board Cooling Fan Cable
D Circuit Board Cooling Fan Case
YEC_TMonly
A
B
D
C
F F G E E
YEC_TMonly
7.4 Cooling Fan and Circulation Fan
370 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
3. Loosen the nine screws, then slide the panel that the screws held into place to the right.
Note: The fan unit can be removed simply by loosening these screws.
Figure 7.32
Figure 7.32 Removing the Fan Unit: 4A0515 and 4A0675
4. Remove the slide panel and fan unit along with the cooling fan unit for the circuit boards from the drive.
Note: The fan unit can be removed simply by loosening these screws.
Figure 7.33
Figure 7.33 Removing the Fan Units: 4A0515 and 4A0675
5. Replace the cooling fans.
Note: Make sure the fan cable does not get pinched between parts when reassembling the fan unit.
Figure 7.34
Figure 7.34 Fan Unit Disassembly: 4A0515 and 4A0675
A Cooling Fan B Fan Unit Case
Screw
Slide Panel
Screw YEC_TMonly
YEC_TMonl
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A
B
YEC_TMonly
7.4 Cooling Fan and Circulation Fan
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 371
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6. Turn the fan unit over and replace the circulation fans.
Figure 7.35
Figure 7.35 Fan Unit Disassembly: 4A0515 and 4A0675
7. Replace the cooling fans
Figure 7.36
Figure 7.36 Fan Unit Disassembly: 4A0515 and 4A0675
Cooling Fan Wiring
1. Place the cooling fan connectors and guide the lead wires so that they are held in place by the cable hooks.
Figure 7.37
Figure 7.37 Cooling Fan Wiring: 4A0515 and 4A0675
A Circulation Fan
A Circuit Board Cooling Fan B Circuit Board Cooling Fan Case
A
YEC_TMonly
A
B
YEC_TMonly
Cooling Fan B1
Relay Connector Relay Connector Relay Connector
Cooling Fan B2 Cooling Fan B3
Cooling Fan B4 Cooling Fan B5
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7.4 Cooling Fan and Circulation Fan
372 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
2. Guide the lead wires so that they are held in place by the cable hooks and place the circulation fan connectors
between the fan and fan unit.
Figure 7.38
Figure 7.38 Cooling Fan Wiring: 4A0515 and 4A0675
3. Position the protective tube so that the fan connector sits in the center of the protective tube. (Only for Circuit
Board Cooling Fans)
4. Guide lead wires through the hooks provided so that the wires are held in place.
Figure 7.39
Figure 7.39 Cooling Fan Wiring: 4A0515 and 4A0675
5. Double check the relay connector to ensure that it is properly connected.
Installing the Cooling Fan Unit
1. Reverse the procedure described above to reinstall the cooling fan unit.
Figure 7.40
Figure 7.40 Installing the Cooling Fan Units: 4A0515 and 4A0675
2. Reattach the covers and digital operator.
3. Turn the power supply back on and reset the cooling fan operation time for the Maintenance Monitor by setting
o4-03 to 0.
Cooling Fan B3 Cooling Fan B2 Cooling Fan B1
Relay Connector
Cooling Fan B5 Cooling Fan B4
Relay Connector
YEC_TMonl
y
Protective tube
YEC_TMon
ly
Circuit Board Cooling Fan B6 Circuit Board Cooling Fan B7
Relay Connector Relay Connector
YEC_TMonl
y
YEC_TMonly
7.5 Drive Replacement
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 373
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7.5 Drive Replacement
Serviceable Parts
The drive contains some serviceable parts. The following parts can be replaced over the life span of the drive:
Terminal board I/O PCBs
Cooling fan(s)
Front cover
Replace the drive if the main power circuitry is damaged. Contact your local Yaskawa representative before replacing
parts if the drive is still under warranty. Yaskawa reserves the right to replace or repair the drive according to Yaskawa
warranty policy.
Terminal Board
The drive has a modular I/O terminal block that facilitates quick drive replacement. The terminal board contains on-
board memory that stores all drive parameter settings and allows the parameters to be saved and transferred to the
replacement drive. To transfer the terminal board, disconnect the terminal board from the damaged drive then reconnect
it to the replacement drive. Once transferred, there is no need to manually reprogram the replacement drive.
Note: If the damaged drive and the new replacement drive are have different capacities, the data stored in the terminal board cannot be
transferred to the new drive and an oPE01 error will appear on the display. The terminal board can still be used, but parameter
setting from the old drive cannot be transferred. The replacement drive must be initialized and manually programmed.
Figure 7.41
Figure 7.41 Terminal Board
A Removable terminal board D Bottom cover screws
B Charge LED E Terminal board locking screws
C Bottom cover
E
D
A
B
C
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7.5 Drive Replacement
374 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Replacing the Drive
WARNING! Electrical Shock Hazard. Do not connect or disconnect wiring while the power is on. Failure to comply can result in serious
personal injury. Before servicing the drive, disconnect all power to the equipment. The internal capacitor remains charged even after
the power supply is turned off. After shutting off the power, wait for at least the amount of time specified on the drive before touching
any components.
WARNING! Electrical Shock Hazard. Do not allow unqualified personnel to perform work on the drive. Failure to comply could result in
serious injury. Installation, maintenance, inspection and servicing must be performed only by authorized personnel familiar with
installation, adjustment and maintenance of AC drives.
NOTICE: Damage to Equipment. Observe proper electrostatic discharge procedures (ESD) when handling the drive and circuit
boards. Failure to comply may result in ESD damage to the drive circuitry.
The following procedure explains how to replace a drive. This section provides instructions for drive replacement only.
To install option boards or other types of options, then refer to the specific manuals for those options.
NOTICE: When transferring a braking transistor, braking resistor, or other type of option from a damaged drive to a new replacement
drive, make sure they are working properly before reconnecting them to the new drive. Replace broken options to prevent immediate
break down of the replacement drive.
1. Remove the terminal cover.
Figure 7.42
Figure 7.42 Drive Replacement: Removing the Terminal Cover
2. Loosen the screws holding the terminal board in place. Take out the screw securing the bottom cover and
remove the bottom cover from the drive.
Note: Drives set up for compliance with IP00 do not have a bottom cover.
Figure 7.43
Figure 7.43 Drive Replacement: Removing the Terminal Board
3. Slide the terminal board as illustrated by the arrows, and remove it from the drive along with the bottom cover.
Figure 7.44
Figure 7.44 Drive Replacement: Remove the Terminal Board
YEC_
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7.5 Drive Replacement
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 375
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Figure 7.45
Figure 7.45 Drive Replacement:
Removable Terminal Board Disconnected from the Drive
4. Disconnect all option cards and options. Make sure they are intact before reusing them.
5. Replace the drive and wire the main circuit.
Installing the Drive
1. Once the main circuit has been wired, connect the terminal block to the drive as shown in Figure 7.46. Use the
installation screw to fasten the terminal block into place.
Figure 7.46
Figure 7.46 Drive Replacement: Installing the Terminal Board
2. Reconnect all options to the new drive in the same way they were installed in the old drive. Connect option
boards to the same option ports in the new drive that were used in the old drive.
3. Put the terminal cover back into its original place.
4. When the power to the drive is first switched on, all parameter settings are transferred from the terminal board
into the drive memory. Should an oPE04 error occur, load the parameter settings that have been saved on the
terminal board onto the new drive by setting parameter A1-03 to 5550. Reset timers used for the Maintenance
Monitor function by setting parameters o4-01 through o4-12 back to 0, and parameter o4-13 to 1.
YEC_c
ommon
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7.5 Drive Replacement
376 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
8
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 377
Peripheral Devices & Options
This chapter explains the installation of peripheral devices and options available for the drive.
8.1 SECTION SAFETY. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
8.2 DRIVE OPTIONS AND PERIPHERAL DEVICES . . . . . . . . . . . . . . . . . . . . . . . . . . 379
8.3 CONNECTING PERIPHERAL DEVICES. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
8.4 OPTION CARD INSTALLATION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
8.5 INSTALLING PERIPHERAL DEVICES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
378 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
8.1 Section Safety
8.1 Section Safety
DANGER
Electrical Shock Hazard
Do not connect or disconnect wiring while the power is on.
Failure to comply will result in death or serious injury.
The internal capacitor remains charged even after the power supply is turned off. After shutting off the power, wait for
at least the amount of time specified on the drive before touching any components.
W ARNING
Electrical Shock Hazard
Do not operate equipment with covers removed.
Failure to comply could result in death or serious injury.
The diagrams in this section may show drives without covers or safety shields to show details. Be sure to reinstall
covers or shields before operating the drives and run the drives according to the instructions described in this manual.
Do not remove covers or touch circuit boards while the power is on.
Failure to comply could result in death or serious injury.
Do not allow unqualified personnel to perform work on the drive.
Failure to comply could result in death or serious injury.
Installation, maintenance, inspection and servicing must be performed only by authorized personnel familiar with
installation, adjustment and maintenance of AC drives.
Do not perform work on the drive while wearing loose clothing, jewelry or without eye protection.
Failure to comply could result in death or serious injury.
Remove all metal objects such as watches and rings, secure loose clothing and wear eye protection before beginning
work on the drive.
Always ground the motor-side grounding terminal.
Improper equipment grounding could result in death or serious injury by contacting the motor case.
Fire Hazard
Tighten all terminal screws to the specified tightening torque.
Loose electrical connections could result in death or serious injury by fire due to overheating of electrical connections.
NOTICE
Observe proper electrostatic discharge procedures (ESD) when handling the drive and circuit boards.
Failure to comply may result in ESD damage to the drive circuitry.
Never connect or disconnect the motor from the drive while the drive is outputting voltage.
Improper equipment sequencing could result in damage to the drive.
8.2 Drive Options and Peripheral Devices
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 379
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8.2 Drive Options and Peripheral Devices
The following table of peripheral devices lists the names of the various accessories and options available for Yaskawa
drives. Contact Yaskawa or your Yaskawa agent to order these peripheral devices.
Peripheral Device Selection: Refer to the Yaskawa catalog for selection and part numbers.
Peripheral Device Installation: Refer to the corresponding option manual for installation instructions.
Table 8.1 Available Peripheral Devices
Option Model Number Description
Power Options
DC Reactor UZDA Series
Improves the power factor by suppressing harmonic distortion
from the power supply.
AC Reactor UZBA Series
Protects the drive when operating from a large power supply
and improves the power factor by suppressing harmonic
distortion. Highly recommended for power supplies that exceed
600 kVA.
Braking Resistor ERF-150WJ Series
For use with systems that require dynamic braking with up to
3% ED. If higher ED is required, use a Braking Resistor Unit.
Braking Resistor with Fuse DF120-B579 Series
For use with systems that require dynamic braking with up to
3% ED. If higher ED is required, increase the capacity.
Braking Resistor Unit LKEB Series
For use with systems requiring dynamic braking with up to
10% ED.
Braking Unit CDBR Series External braking transistor
Molded Case Circuit Breaker NF Series
Circuit breaker for short circuit or over load protection
Note: Yaskawa recommends installing an MCCB to the power
supply side to protect drive wiring and prevent other damage in
the event of component failure. Install an MCCB if permitted
by the power system.
Earth Leakage Circuit Breaker
(ELCB)
NV, EG, or SG Series
Provides protection against potentially harmful leakage current.
Note: Yaskawa recommends installing a LECB to the power
supply side to protect drive wiring and prevent other damage in
the event of component failure. An MCCB can also be used if
permitted by the power system.
Magnetic Contactor (Input) SC Series
Ensures that power to drive is completely shut off when
necessary, preventing potential damage to the braking resistor
and other internal circuitry.
Install an MCCB when using a braking resistor to prevent the
braking resistor from overheating.
To protect internal components from sudden high levels of
input current, the MC should be wired so that it opens when a
fault output terminal is triggered.
Surge Protector
200 V class: DCR2-A
400 V class: RFN3AL-504KD
Suppresses surge voltage caused by magnetic contactor
switching.
Zero Phase Reactor F6045GB, F11080GB Reduces electromagnetic noise.
Fuse
200 V class: CR2LS or CR2L Series, FWX Series
400 V class: CR6L Series, FWH Series
Protects the drive in case of short circuit.
Input Noise Filter LNFB, LNFD, FN Series
Reduces electromagnetic noise flowing back from the drive
into power supply.
Output Noise Filter LF-310 Series Reduces electromagnetic noise generated by the drive output.
Isolator DGP Isolates the drive control I/Os for improved noise resistance.
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Drive
Braking Resistor
Overheat Contact
(Thermal Relay Trip Contact)
Braking Resistor
Overheat Contact
(Thermal Relay Trip Contact)
Braking Resistor
Overheat Contact
(Thermal Relay Trip Contact)
Braking
Resistor
Unit
Braking
Resistor
Unit
Braking
Resistor
Unit
Braking Unit 2
+15
5 1
2
6
SLAVE
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Cooling Fin Overheat Contact
(Thermoswitch Contact)
Cooling Fin Overheat Contact
(Thermoswitch Contact)
Cooling Fin Overheat Contact
(Thermoswitch Contact)
Braking Unit 3 Braking Unit 1
1
3 4 3 4 3
5
6
5
6
1
2
4
2
3
1
P
2
B
0 + 0 + + + + 0 0 + 0 0
B P B P
1 2 1 2
MASTER
SLAVE
MASTER
SLAVE
+
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8.5 Installing Peripheral Devices
388 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
If several drives are connected to one MCCB or ELCB that is shared with other equipment, use a sequence that shuts
the power OFF when errors are output by using magnetic contactor (MC) as shown in the following figure.
Figure 8.10
Figure 8.10 Power Supply Interrupt Wiring (Example)
WARNING! Electrical Shock Hazard. Disconnect the MCCB (or ELCB) and MC before wiring terminals. Failure to comply may result in
serious injury or death.
Installing a Leakage Breaker
Drive outputs generate high-frequency leakage current as a result of high-speed switching. Install an Earth Leakage
Circuit Breaker (ELCB) on the input side of the drive to switch off potentially harmful leakage current.
Because each drive generates about 100 mA of leakage current across a 1 m cable and another 5 mA for each additional
meter, each drive should have a leakage breaker with a sensitivity amperage of at least 30 mA per drive. This will
eliminate harmonic leakage current and suppress any potentially harmful frequencies.
Leakage current can cause unprotected components to operate incorrectly. If this is a problem, lower the carrier
frequency, replace the components in question with parts protected against harmonic current, or increase the sensitivity
amperage of the leakage breaker to at least 200 mA per drive.
Factors in determining leakage current:
Size of the AC drive
AC drive carrier frequency
Motor cable type and length
EMI/RFI filter
In order to safely protect the drive system, select a breaker that senses all types of current (AC and DC) and high
frequency currents.
Installing a Magnetic Contactor at the Power Supply Side
Install a magnetic contactor to the drive input for the purposes explained below.
Disconnecting the Power Supply
The drive should be shut off with a magnetic contactor (MC) when a fault occurs in any external equipment such as
braking resistors.
NOTICE: Do not connect electromagnetic switches or magnetic contactors to the output motor circuits without proper sequencing.
Improper sequencing of output motor circuits could result in damage to the drive.
NOTICE: Install a MC on the input side of the drive when the drive should not automatically restart after power loss. To get the full
performance life out of the electrolytic capacitors and circuit relays, refrain from switching the drive power supply off and on more than
once every 30 minutes. Frequent use can damage the drive. Use the drive to stop and start the motor.
NOTICE: Use a magnetic contactor (MC) to ensure that power to the drive can be completely shut off when necessary. The MC should
be wired so that it opens when a fault output terminal is triggered.
Note: 1. To keep the drive from restarting automatically when power is restored after momentary power loss, install a magnetic contactor to
the drive input.
2. To have the drive continue operating through momentary power loss, set up a delay for the magnetic contactor so that it does not open
prematurely.
A Power supply B Drive
R/L1
MB
MCCB A
B
MC
MC
MC
MC
S/L2
T/L3
C SA
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8.5 Installing Peripheral Devices
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 389
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Protecting the Braking Resistor or Braking Resistor Unit
Use an MC on the input side of the drive to protect a braking resistor or braking resistor unit from overheat or fire.
WARNING! Fire Hazard. When using a braking unit, use a thermal relay on the braking resistors and configure a fault contact output
for the braking resistor unit to disconnect drive main power via an input contactor. Inadequate braking circuit protection could result in
death or serious injury by fire from overheating resistors.
Connecting an AC or DC Reactor
AC and DC reactors suppress surges in current and improve the power factor on the input side of the drive.
Use a DC reactor or AC reactor or both:
To suppress harmonic current or improve the power factor of the power supply.
When using a phase advancing capacitor switch.
With a large capacity power supply transformer (over 600 kVA).
Note: Use an AC or DC reactor when also connecting a thyristor converter (such as a DC drive) to the same power supply system,
regardless of the conditions of the power supply.
Connecting an AC Reactor
Figure 8.11
Figure 8.11 Connecting an AC Reactor
Connecting a DC Reactor
A DC reactor can be installed to drive models CIMR-A2A0004 to 0081 and 4A0002 to 0044. When installing a DC
reactor, ensure the jumper between terminals +1 and +2 (terminals are jumpered for shipment) is removed. The jumper
must be installed if no DC reactor is used. Refer to Figure 8.12 for an example of DC reactor wiring.
Figure 8.12
Figure 8.12 Connecting a DC Reactor
Connecting a Surge Absorber
A surge absorber suppresses surge voltage generated from switching an inductive load near the drive. Inductive loads
include magnetic contactors, relays, valves, solenoids, and brakes. Always use a surge absorber or diode when operating
with an inductive load.
Note: Never connect a surge absorber to the drive output.
A Power supply C AC reactor
B MCCB D Drive
A Power supply C Drive
B MCCB D DC reactor
B A
C D
R/L1 U
V
W
X
Y
Z
S/L2
T/L3
Common_
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A
C
D
R/L1
B
S/L2
T/L3
1 + 2 +
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8.5 Installing Peripheral Devices
390 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Connecting a Noise Filter
Input-Side Noise Filter
Drive outputs generate noise as a result of high-speed switching. This noise flows from inside the drive back to the power
supply, possibly affecting other equipment. Installing a noise filter to the input side of the drive can reduce the amount of
noise flowing back into the power supply. This also prevents noise from entering the drive from the power supply.
Use a noise filter specifically designed for AC drives.
Install the noise filter as close as possible to the drive.
Figure 8.13
Figure 8.13 Input-Side Noise Filter (Three-Phase 200/400 V)
Output-Side Noise Filter
A noise filter on the output side of the drive reduces inductive noise and radiated noise. Figure 8.14 illustrates an
example of output-side noise filter wiring.
NOTICE: Do not connect phase-advancing capacitors or LC/RC noise filters to the output circuits. Improper application of noise filters
could result in damage to the drive.
Figure 8.14
Figure 8.14 Output-Side Noise Filter
Radiated Noise: Electromagnetic waves radiated from the drive and cables create noise throughout the radio
bandwidth that can affect surrounding devices.
Induced Noise: Noise generated by electromagnetic induction can affect the signal line and may cause the controller to
malfunction.
A Power supply C Drive
B Input-side noise filter
(model LNFD-)
D Other control device
A Power supply C Output-side noise filter
B Drive D Motor
C
D
A
B
R/L1
U
V
W
R
S
T
E
MCCB
MCCB
S/L2
T/L3
YEC_
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C
D
B
A
M
R/L1
MCCB
S/L2
T/L3
U/T1
V/T2
W/T3
1
2
3
4
5
6
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8.5 Installing Peripheral Devices
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 391
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Preventing Induced Noise
Use a noise filter on the output side or use shielded cables. Lay the cables at least 30 cm away from the signal line to
prevent induced noise.
Figure 8.15
Figure 8.15 Preventing Induced Noise
Reducing Radiated and Radio Frequency Noise
The drive, input lines, and output lines generate radio frequency noise. Use noise filters on input and output sides and
install the drive in a metal enclosure panel to reduce radio frequency noise.
Note: The cable running between the drive and motor should be as short as possible.
Figure 8.16
Figure 8.16 Reducing Radio Frequency Noise
Fuse/Fuse Holder
Yaskawa recommends installing a fuse to the input side of the drive to prevent damage to the drive if a short circuit
occurs.
Select the appropriate fuse from the table below.
Table 8.3 Input Fuses
A Power supply E Separate at least 30 cm
B Drive F Controller
C Shielded motor cable G Signal line
D Motor
A Metal enclosure E Noise filter
B Power supply F Shielded motor cable
C Noise filter G Motor
D Drive
Model
CIMR-A
Fuse Type Fuse Holder Fuse Type
Manufacturer: Fuji Electric Manufacturer: Bussmann
Model Fuse Ampere Rating Model Quantity Model Fuse Ampere Rating
Three-Phase 200 V Class
2A0004 CR2LS-30 30 CM-1A 1 FWH-70B 70
2A0006 CR2LS-30 30 CM-1A 1 FWH-70B 70
2A0008 CR2LS-30 30 CM-1A 1 FWH-70B 70
2A0010 CR2LS-50 50 CM-1A 1 FWH-70B 70
2A0012 CR2LS-50 50 CM-1A 1 FWH-70B 70
2A0018 CR2LS-75 75 CM-1A 1 FWH-90B 90
2A0021 CR2LS-100 100 CM-1A 1 FWH-90B 90
2A0030 CR2L-125 125 CM-2A 1 FWH-100B 100
B
A
C
F
G
E
R/L1
MCCB
S/L2
T/L3
U/T1
V/T2
W/T3
D
M
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C E D
B
F
A
R/L1
MCCB
S/L2
T/L3
U/T1
V/T2
W/T3
M
G
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8.5 Installing Peripheral Devices
392 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Attachment for External Heatsink
An external heatsink can be attached that projects outside the enclosure. Steps should be taken to ensure that there is
enough air circulation around the heatsink.
Contact your Yaskawa sales representative or Yaskawa directly.
EMC Filter Installation
This drive is tested according to European standards IEC61800-5-1 and complies with the EMC guidelines. Refer to
EMC Filter Installation on page 521 for details about EMC filter selection and installation.
Installing a Motor Thermal Overload (oL) Relay on the Drive Output
Motor thermal overload relays protect the motor by disconnecting power lines to the motor due to a motor overload
condition.
Install a motor thermal overload relay between the drive and motor:
When operating multiple motors on a single AC drive.
When using a power line bypass to operate the motor directly from the power line.
It is not necessary to install a motor thermal overload relay when operating a single motor from a single AC drive. The
AC drive has UL recognized electronic motor overload protection built into the drive software.
2A0040 CR2L-150 150 CM-2A 1 FWH-200B 200
2A0056 CR2L-175 175 CM-2A 1 FWH-200B 200
2A0069 CR2L-225 225 FWH-200B 200
2A0081 CR2L-260 260 FWH-300A 300
2A0110 CR2L-300 300 FWH-300A 300
2A0138 CR2L-350 350 FWH-350A 350
2A0169 CR2L-400 400 FWH-400A 400
2A0211 CR2L-450 450 FWH-400A 400
2A0250 CR2L-600 600 FWH-600A 600
2A0312 CR2L-600 600 FWH-700A 700
2A0360 CR2L-600 600 FWH-800A 800
2A0415 CS5F-800 800 FWH-1000A 1000
Three-Phase 400 V Class
4A0002 CR6L-20 20 CMS-4 3 FWH-40B 40
4A0004 CR6L-30 30 CMS-4 3 FWH-50B 50
4A0005 CR6L-50 50 CMS-4 3 FWH-70B 70
4A0007 CR6L-50 50 CMS-4 3 FWH-70B 70
4A0009 CR6L-50 50 CMS-4 3 FWH-90B 90
4A0011 CR6L-50 50 CMS-4 3 FWH-90B 90
4A0018 CR6L-75 75 CMS-5 3 FWH-80B 80
4A0023 CR6L-75 75 CMS-5 3 FWH-100B 100
4A0031 CR6L-100 100 CMS-5 3 FWH-125B 125
4A0038 CR6L-150 150 CMS-5 3 FWH-200B 200
4A0044 CR6L-150 150 CMS-5 3 FWH-250A 250
4A0058 CR6L-200 200 FWH-250A 250
4A0072 CR6L-250 250 FWH-250A 250
4A0088 CR6L-250 250 FWH-250A 250
4A0103 CR6L-300 300 FWH-250A 250
4A0139 CR6L-350 350 FWH-350A 350
4A0165 CR6L-400 400 FWH-400A 400
4A0208 CS5F-600 600 FWH-500A 500
4A0250 CS5F-600 600 FWH-600A 600
4A0296 CS5F-600 600 FWH-700A 700
4A0362 CS5F-800 800 FWH-800A 800
4A0414 CS5F-800 800 FWH-800A 800
4A0515 CS5F-800 800 FWH-1000A 1000
4A0675 CS5F-1000 1000 FWH-1200A 1200
Model
CIMR-A
Fuse Type Fuse Holder Fuse Type
Manufacturer: Fuji Electric Manufacturer: Bussmann
Model Fuse Ampere Rating Model Quantity Model Fuse Ampere Rating
8.5 Installing Peripheral Devices
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 393
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Note: 1. Disable the motor protection function (L1-01 = 0) when using an external motor thermal overload relay.
2. The relay should shut off main power on the input side of the main circuit when triggered.
General Precautions when Using Thermal Overload Relays
The following application precautions should be considered when using motor thermal overload relays on the output of
AC drives in order to prevent nuisance trips or overheat of the motor at low speeds:
1. Low speed motor operation
2. Use of multiple motors on a single AC drive
3. Motor cable length
4. Nuisance tripping resulting from high AC drive carrier frequency
Low Speed Operation and Motor Thermal oL Relays
Generally, thermal relays are applied on general-purpose motors. When general-purpose motors are driven by AC drives,
the motor current is approximately 5% to 10% greater than if driven by a commercial power supply. In addition, the
cooling capacity of a motor with a shaft-driven fan decreases when operating at low speeds. Even if the load current is
within the motor rated value, motor overheating may occur. A thermal relay cannot effectively protect the motor due to
the reduction of cooling at low speeds. For this reason, apply the UL recognized electronic thermal overload protection
function built into the drive whenever possible.
UL recognized electronic thermal overload function of the drive: Speed-dependent heat characteristics are simulated
using data from standard motors and force-ventilated motors. The motor is protected from overload using this function.
Using a Single Drive to Operate Multiple Motors
Turn off the electronic thermal overload function. Please refer to the appropriate product instruction manual to determine
which parameter disables this function.
Note: The UL recognized electronic thermal overload function cannot be applied when operating multiple motors with a single drive.
Long Motor Cables
When a high carrier frequency and long motor cables are used, nuisance tripping of the thermal relay may occur due to
increased leakage current. To avoid this, reduce the carrier frequency or increase the tripping level of the thermal
overload relay.
Nuisance Tripping Due to a High AC Drive Carrier Frequency
Current waveforms generated by high carrier frequency PWM drives tend to increase the temperature in overload relays.
It may be necessary to increase the trip level setting when encountering nuisance triggering of the relay.
WARNING! Fire Hazard. Confirm an actual motor overload condition is not present prior to increasing the thermal oL trip setting.
Check local electrical codes before making adjustments to motor thermal overload settings.
8.5 Installing Peripheral Devices
394 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Appendix: A
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 395
Specifications
A.1 HEAVY DUTY AND NORMAL DUTY RATINGS. . . . . . . . . . . . . . . . . . . . . . . . . . . 396
A.2 THREE-PHASE 200 V CLASS DRIVES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397
A.3 THREE-PHASE 400 V CLASS DRIVES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398
A.4 DRIVE SPECIFICATIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
A.5 DRIVE WATT LOSS DATA. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 401
A.6 DRIVE DERATING DATA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 402
396 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
A.1 Heavy Duty and Normal Duty Ratings
A.1 Heavy Duty and Normal Duty Ratings
The capacity of the drive is based on two types of load characteristics: Heavy Duty (HD) and Normal Duty (ND).
Refer to Selecting the Appropriate Load Rating on page 396 for the differences between HD and ND.
Table A.1 Selecting the Appropriate Load Rating
Note: Differences between HD ratings and ND ratings for the drive include rated input and output current, overload capacity, carrier
frequency, and current limit. The default setting is for HD (C6-01 = 0).
Setting Parameter C6-01
<1> Refer to Three-Phase 200 V Class Drives on page 397 and Three-Phase 400 V Class Drives on page 398 for information on rating changes
based on drive model.
Rated Output Current Overload Tolerance Default Carrier Frequency
0: Heavy Duty (default) HD Rating varies by model <1> 150% rated output current for 60 s 2 kHz
1: Normal Duty ND Rating varies by model <1> 120% rated output current for 60 s varies by model 2 kHz, Swing PWM
TERMS TERMS
HD and ND: HD refers to applications requiring constant torque output, while ND refers to applications with variable torque
needs. The drive allows the user to select HD or ND torque depending on the application. Fans, pumps, and blowers should use
ND (C6-01 = 1), and other applications generally use HD (C6-01 = 0).
Swing PWM: Swing PWM equivalent to a 2 kHz audible noise. This function turns the motor noise into a less obtrusive white
noise.
A.2 Three-Phase 200 V Class Drives
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 397
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A.2 Three-Phase 200 V Class Drives
Table A.2 Power Ratings (Three-Phase 200 V Class)
Item
<1> The motor capacity (kW) refers to a Yaskawa 4-pole motor. The rated output current of the drive output amps should be equal to or greater than
the motor rated current.
<2> Assumes operation at the rated output current. Input current rating varies depending on the power supply transformer, input reactor, wiring
connections, and power supply impedance.
<3> Rated motor capacity is calculated with a rated output voltage of 220 V.
<4> Carrier frequency is set to 2 kHz. Current derating is required in order to raise the carrier frequency.
<5> Carrier frequency can be increased up the 8 kHz while keeping this current rating. Higher carrier frequency settings require derating.
<6> Carrier frequency can be increased up the 5 kHz while keeping this current rating. Higher carrier frequency settings require derating.
Specification
CIMR-A2A 0004 0006 0008 0010 0012 0018 0021 0030 0040 0056 0069 0081 0110 0138 0169 0211 0250 0312 0360 0415
Maximum Applicable Motor Capacity
(kW) <1>
HD Rating 0.4 0.75 1.1 1.5 2.2 3 3.7 5.5 7.5 11 15 18.5 22 30 37 45 55 75 90 110
ND Rating 0.7 1.1 1.5 2.2 3 3.7 5.5 7.5 11 15 18.5 22 30 37 45 55 75 90 110 110
Input
Input Current (A) <2>
HD Rating 2.9 5.8 7 7.5 11 15.6 18.9 28 37 52 68 80 82 111 136 164 200 271 324 394
ND Rating 3.9 7.3 8.8 10.8 13.9 18.5 24 37 52 68 80 96 111 136 164 200 271 324 394 471
Rated Voltage
Rated Frequency
Three-phase 200 to 240 Vac 50/60 Hz/270 to 340 Vdc
Allowable Voltage Fluctuation -15 to 10%
Allowable Frequency Fluctuation 5%
Input Power (kVA)
HD Rating 1.3 2.2 3.1 4.1 5.8 7.8 9.5 14 18 27 36 44 37 51 62 75 91 124 148 180
ND Rating 2.2 3.1 4.1 5.8 7.8 9.5 14 18 27 36 44 52 51 62 75 91 124 148 180 215
Output
Rated Output Capacity
(kVA) <3>
HD Rating 1.2 1.9 2.6 3 4.2 5.3 6.7 9.5 12.6 17.9 23 29 32 44 55 69 82 108 132 158
ND Rating 1.3 2.3 3 3.7 4.6 6.7 8 11.4 15.2 21 26 31 42 53 64 80 95 119 137 158
Rated Output Current
(A)
HD Rating
3.2
<5>
5
<5>
6.9
<5>
8
<5>
11
<5>
14
<5>
17.5
<5>
25
<5>
33
<5>
47
<5>
60
<5>
75
<5>
85
<5>
115
<5>
145
<6>
180
<6>
215
<6>
283
<6>
346
<6>
415
<4>
ND Rating
<4>
3.5 6 8 9.6 12 17.5 21 30 40 56 69 81 110 138 169 211 250 312 360 415
Overload Tolerance
HD Rating: 150% of rated output current for 60 s
(Derating may be required for applications that start and stop frequently)
ND Rating: 120% of rated output current for 60 s
Carrier Frequency User adjustable between 2 and 15 kHz User adjustable between 2 and 10 kHz
Maximum Output Voltage (V) Three-phase 200 to 240 V (proportional to input voltage)
Maximum Output Frequency (Hz) 400 Hz (user-set)
398 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
A.3 Three-Phase 400 V Class Drives
A.3 Three-Phase 400 V Class Drives
Table A.3 Power Ratings (Three-Phase 400 V Class)
Item Specification
CIMR-A4A 0002 0004 0005 0007 0009 0011 0018 0023 0031 0038 0044 0058 0072 0088 0103
Maximum Applicable Motor
Capacity (kW) <1>
HD Rating 0.4 0.75 1.5 2.2 3 3.7 5.5 7.5 11 15 18.5 22 30 37 45
ND Rating 0.75 1.5 2.2 3 3.7 5.5 7.5 11 15 18.5 22 30 37 45 55
Input
Input Current (A) <2>
HD Rating 1.8 3.2 4.4 6 8.2 10.4 15 20 29 39 44 43 58 71 86
ND Rating 2.1 4.3 5.9 8.1 9.4 14 20 24 38 44 52 58 71 86 105
Rated Voltage
Rated Frequency
Three-phase 380 to 480 Vac 50/60 Hz/510 to 680 Vdc
Allowable Voltage Fluctuation 15 to 10%
Allowable Frequency Fluctuation 5%
Input Power (kVA)
HD Rating 1.4 2.3 4.3 6.1 8.1 10.0 14.6 19.2 28.4 37.5 46.6 39.3 53.0 64.9 78.6
ND Rating 2.3 4.3 6.1 8.1 10.0 14.5 19.4 28.4 37.5 46.6 54.9 53.0 64.9 78.6 96.0
Output
Rated Output Capacity
(kVA) <3>
HD Rating 1.4 2.6 3.7 4.2 5.5 7 11.3 13.7 18.3 24 30 34 48 57 69
ND Rating <4> 1.6 3.1 4.1 5.3 6.7 8.5 13.3 17.5 24 29 34 44 55 67 78
Rated Output Current
(A)
HD Rating
1.8
<5>
3.4
<5>
4.8
<5>
5.5
<5>
7.2
<5>
9.2
<5>
14.8
<5>
18
<5>
24
<5>
31
<5>
39
<5>
45
<5>
60
<5>
75
<5>
91
<5>
ND Rating <4> 2.1 4.1 5.4 6.9 8.8 11.1 17.5 23 31 38 44 58 72 88 103
Overload Tolerance
HD Rating: 150% of rated output current for 60 s
(Derating may be required for applications that start and stop frequently)
ND Rating: 120% of rated output current for 60 s
Carrier Frequency User adjustable between 2 and 15 kHz
Maximum Output Voltage (V) Three-phase 380 to 480 V (proportional to input voltage)
Maximum Output Frequency (Hz) 400 Hz (user-adjustable)
Item
<1> The motor capacity (kW) refers to a Yaskawa 4-pole motor. The rated output current of the drive output amps should be equal to or greater than
the motor rated current.
<2> Assumes operation at the rated output current. Input current rating varies depending on the power supply transformer, input reactor, wiring
conditions, and power supply impedance.
<3> Rated motor capacity is calculated with a rated output voltage of 440 V.
<4> Carrier frequency is set to 2 kHz. Current derating is required in order to raise the carrier frequency.
<5> Carrier frequency can be increased up the 8 kHz while keeping this current rating. Higher carrier frequency settings require derating.
<6> Carrier frequency can be increased up the 5 kHz while keeping this current rating. Higher carrier frequency settings require derating
Specification
CIMR-A4A 0139 0165 0208 0250 0296 0362 0414 0515 0675
Maximum Applicable Motor
Capacity (kW) <1>
HD Rating 55 75 90 110 132 160 185 220 315
ND Rating 75 90 110 132 160 185 220 250 355
Input
Input Current (A) <2>
HD Rating 105 142 170 207 248 300 346 410 584
ND Rating 142 170 207 248 300 346 410 465 657
Rated Voltage
Rated Frequency
Three-phase 380 to 480 Vac 50/60 Hz/510 to 680 Vdc
Allowable Voltage Fluctuation 15 to 10%
Allowable Frequency Fluctuation 5%
Input Power (kVA)
HD Rating 96.0 129.9 155 189 227 274 316 375 508
ND Rating 129.9 155.5 189 227 274 316 375 416 601
Output
Rated Output Capacity
(kVA) <3>
HD Rating 85 114 137 165 198 232 282 343 461
ND Rating <4> 106 126 159 191 226 276 316 392 514
Rated Output Current
(A)
HD Rating
112
<6>
150
<6>
180
<6>
216
<6>
260
<6>
304
<4>
370
<6>
450
<4>
605
<4>
ND Rating <4> 139 165 208 250 296 362 414 515 675
Overload Tolerance
HD Rating: 150% of rated output current for 60 s
(Derating may be required for applications that start and stop frequently)
ND Rating: 120% of rated output current for 60 s
Carrier Frequency User adjustable between 2 and 10 kHz User adjustable between 2 to 5 kHz
Maximum Output Voltage (V) Three-phase 380 to 480 V (proportional to input voltage)
Maximum Output Frequency (Hz) 400 Hz (user-adjustable) 150 Hz (user-adjustable)
A.4 Drive Specifications
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 399
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A.4 Drive Specifications
Note: 1. Perform rotational Auto-Tuning to obtain the performance specifications given below.
2. For optimum performance life of the drive, install the drive in an environment that meets the required specifications.
Item Specification
Control
Characteristics
Control Method
The following control methods can be set using drive parameters:
V/f Control (V/f)
V/f Control with PG (V/f w/PG)
Open Loop Vector Control (OLV)
Closed Loop Vector Control (CLV)
Open Loop Vector Control for PM (OLV/PM)
Advanced Open Loop Vector Control for PM (AOLV/PM)
Closed Loop Vector Control for PM (CLV/PM)
Frequency Control Range 0.01 to 400 Hz
Frequency Accuracy
(Temperature Fluctuation)
Digital input: within 0.01% of the max output frequency (-10 to +40C)
Analog input: within 0.1% of the max output frequency (25C 10C)
Frequency Setting Resolution
Digital inputs: 0.01 Hz
Analog inputs: 1/2048 of the maximum output frequency setting (11 bit plus sign)
Output Frequency Resolution 0.001 Hz
Frequency Setting Signal -10 to 10 V, 0 to 10 V, 0 to 20 mA, 4 to 20 mA, Pulse Train Input
Starting Torque <1>
V/f, V/f w/PG: 150% at 3 Hz
OLV: 200% at 0.3 Hz
CLV, AOLV/PM, CLV/PM: 200% at 0 r/min
OLV/PM: 100% at 5% speed
Speed Control Range <1>
V/f, V/f w/PG: 1:40
OLV: 1:200
CLV, CLV/PM: 1:1500
OLV/PM: 1:20
AOLV/PM: 1:100
Speed Control Accuracy <1> OLV: 0.2% (25C 10C), CLV: 0.02% (25C 10C)
Speed Response <1>
OLV, OLV/PM, AOLV/PM: 10 Hz
CLV, CLV/PM: 50 Hz
Torque Limit Parameters setting allow separate limits in four quadrants (available in OLV, CLV, AOLV/PM, CLV/PM)
Accel/Decel Time 0.0 to 6000.0 s (4 selectable combinations of independent acceleration and deceleration settings)
Braking Torque
Approx. 20% (approx. 125% when using braking resistor) <2>
Short-time decel torque <3>: over 100% for 0.4/ 0.75 kW motors, over 50% for 1.5 kW motors, and over 20% for 2.2 kW and
above motors <4> (over excitation braking/High Slip Braking: approx. 40%)
Continuous regenerative torque: approx. 20%<4> (approx. 125% with dynamic braking resistor option <2>: 10% ED, 10s)
Braking Transistor Models 2A0004 to 2A0138, 4A0002 to 4A0072 have a built-in braking transistor.
V/f Characteristics User-selected programs and V/f preset patterns possible
Main Control Functions
Torque Control, Droop Control, Speed/torque Control Switching, Feed Forward Control, Zero Servo Function, Momentary
Power Loss Ride-Thru, Speed Search, Overtorque/Undertorque Detection, Torque Limit, 17 Step Speed (max), Accel/decel
Switch, S-curve Accel/decel, 3-wire Sequence, Auto-tuning (rotational, stationary tuning), Dwell, Cooling Fan on/off Switch,
Slip Compensation, Torque Compensation, Frequency Jump, Upper/lower Limits for Frequency Reference, DC Injection
Braking at Start and Stop, Overexcitation Braking, High Slip Braking, PID Control (with sleep function), Energy Saving Control,
MEMOBUS/Modbus Comm. (RS-422/485 max, 115.2 kbps), Fault Restart, Application Presets, DriveWorksEZ (customized
function), Removable Terminal Block with Parameter Backup Function, Online Tuning, KEB, Overexcitation Deceleration,
Inertia (ASR) Tuning, Overvoltage Suppression, High Frequency Injection, etc.
Protection
Functions
Motor Protection Electronic thermal overload relay
Momentary Overcurrent Protection Drive stops when output current exceeds 200% of Heavy Duty Rating
Overload Protection Drive stops after 60 s at 150% of rated Heavy Duty output current <5>
Overvoltage Protection
200 V class: Stops when DC bus voltage exceeds approx. 410 V
400 V class: Stops when DC bus voltage exceeds approx. 820 V
Undervoltage Protection
200 V class: Stops when DC bus voltage falls below approx. 190 V
400 V class: Stops when DC bus voltage falls below approx. 380 V
Momentary Power Loss Ride-Thru Immediately stop after 15 ms or longer power loss. <6> Continuous operation during power loss than 2 s (standard) <7>
Heatsink Overheat Protection Thermistor
Braking Resistor Overheat Protection Overheat input signal for braking resistor (Optional ERF-type, 3% ED)
Stall Prevention Stall Prevention is available during acceleration, deceleration, and during run.
Ground Protection Electronic circuit protection <8>
DC Bus Charge LED Remains lit until DC bus voltage falls below 50 V
Environment
Area of Use Indoors
Ambient Temperature -10 to 40C (NEMA Type 1 enclosure), -10 to 50C (IP00 enclosure), up to 60C with output current derating
Humidity 95 RH% or less (no condensation)
Storage Temperature -20 to 60C (short-term temperature during transportation)
Altitude Up to 1000 meters without derating, up to 3000m with output current and voltage derating
Vibration / Shock
10 to 20 Hz: 9.8 m/s
2
20 to 55 Hz: 5.9 m/s
2
(2A0004 to 2A0211, 4A0002 to 4A0165)
2.0 m/s
2
(2A0250 to 2A0415, 4A0208 to 4A0675)
Safety Standard
Two Safe Disable inputs and 1 EDM output according to EN61800-5-1, EN954-1/ISO13849 Cat. 3, IEC/EN61508 SIL2,
Insulation coordination: class 1
Note: Time from input open to drive output stop is less than 1 ms
Protection Design IP00 enclosure, IP20/NEMA Type 1 enclosure <9>
A.4 Drive Specifications
400 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
<1> The accuracy of these values depends on motor characteristics, ambient conditions, and drive settings. Specifications may vary with different
motors and with changing motor temperature. Contact Yaskawa for consultation.
<2> Ensure that Stall Prevention is disabled during deceleration (L3-04 = 0), when using a regenerative converter, a regenerative unit, a braking
resistor or the Braking Resistor Unit. The default setting for the Stall Prevention function will interfere with the braking resistor.
<3> Instantaneous average deceleration torque refers to the torque required to decelerate the motor (uncoupled from the load) from the rated motor
speed down to zero in the shortest time.
<4> Actual specifications may vary according to motor characteristics.
<5> Overload protection may be triggered when operating with 150% of the rated output current if the output frequency is less than 6 Hz.
<6> May be shorter due to load conditions and motor speed.
<7> A separate Momentary Power Loss Ride-Thru Unit is required for the drives CIMR-A2A0004 through 2A0056 and 4A0002 through 4A0031
if the application needs to continue running during a momentary power loss up to 2 s.
<8> Ground protection cannot be provided when the impedance of the ground fault path is too low, or when the drive is powered up while a ground
fault is present at the output.
<9> Removing the top protective cover from a NEMA Type 1 enclosure drive voids the NEMA Type 1 protection but still keeps IP20 conformity.
This is applicable to models 2A0004 to 2A0081 and 4A0002 to 4A0044.
A.5 Drive Watt Loss Data
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 401
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A.5 Drive Watt Loss Data
Table A.4 Watt Loss 200 V Class Three-Phase Models
Table A.5 Watt Loss 400 V Class Three-Phase Models
Model Number
CIMR-A
<1> These values assume the carrier frequency is set to 8 kHz.
<2> These values assume the carrier frequency is set to 5 kHz.
<3> These values assume the carrier frequency is set to 2 kHz.
Heavy Duty Normal Duty
Rated Amps (A)
Heatsink Loss
(W)
Interior Unit
Loss (W)
Total Loss (W)
Rated Amps (A)
<3>
Heatsink Loss
(W)
Interior Unit
Loss (W)
Total Loss (W)
2A0004 3.2 <1> 14.8 44 59 3.5 18.4 47 66
2A0006 5.0 <1> 24 48 72 6.0 31 51 82
2A0008 6.9 <1> 35 49 84 8.0 43 52 95
2A0010 8.0 <1> 43 52 95 9.6 57 58 115
2A0012 11.0 <1> 64 58 122 12.0 77 64 141
2A0018 14.0 <1> 77 60 137 17.5 101 67 168
2A0021 17.5 <1> 101 67 168 21 138 83 222
2A0030 25 <1> 194 92 287 30 262 117 379
2A0040 33 <1> 214 105 319 40 293 145 437
2A0056 47 <1> 280 130 410 56 371 175 546
2A0069 60 <1> 395 163 558 69 491 205 696
2A0081 75 <1> 460 221 681 81 527 257 785
2A0110 85 <1> 510 211 721 110 719 286 1005
2A0138 115 <1> 662 250 912 138 842 312 1154
2A0169 145 <1> 816 306 1122 169 1014 380 1394
2A0211 180 <2> 976 378 1354 211 1218 473 1691
2A0250 215 <2> 1514 466 1980 250 1764 594 2358
2A0312 283 <2> 1936 588 2524 312 2020 665 2686
2A0360 346 <2> 2564 783 3347 360 2698 894 3591
2A0415 415 <3> 2672 954 3626 415 2672 954 3626
Model Number
CIMR-A
<1> These values assume the carrier frequency is set to 8 kHz.
<2> These values assume the carrier frequency is set to 5 kHz.
<3> These values assume the carrier frequency is set to 2 kHz.
Heavy Duty Normal Duty
Rated Amps (A)
Heatsink Loss
(W)
Interior Unit
Loss (W)
Total Loss (W)
Rated Amps (A)
<3>
Heatsink Loss
(W)
Interior Unit
Loss (W)
Total Loss (W)
4A0002 1.8 <1> 15.9 45 61 2.1 20 48 68
4A0004 3.4 <1> 25 46 70 4.1 32 49 81
4A0005 4.8 <1> 37 49 87 5.4 45 53 97
4A0007 5.5 <1> 48 53 101 6.9 62 59 121
4A0009 7.2 <1> 53 55 108 8.8 66 60 126
4A0011 9.2 <1> 69 61 130 11.1 89 73 162
4A0018 14.8 <1> 135 86 221 17.5 177 108 285
4A0023 18.0 <1> 150 97 247 23 216 138 354
4A0031 24 <1> 208 115 323 31 295 161 455
4A0038 31 <1> 263 141 403 38 340 182 521
4A0044 39 <1> 330 179 509 44 390 209 599
4A0058 45 <1> 349 170 518 58 471 215 686
4A0072 60 <1> 484 217 701 72 605 265 870
4A0088 75 <1> 563 254 817 88 684 308 993
4A0103 91 <1> 723 299 1022 103 848 357 1205
4A0139 112 <1> 908 416 1325 139 1215 534 1749
4A0165 150 <2> 1340 580 1920 165 1557 668 2224
4A0208 180 <2> 1771 541 2313 208 1800 607 2408
4A0250 216 <2> 2360 715 3075 250 2379 803 3182
4A0296 260 <2> 2391 787 3178 296 2448 905 3353
4A0362 304 <2> 3075 985 4060 362 3168 1130 4298
4A0414 370 <2> 3578 1164 4742 414 3443 1295 4738
4A0515 450 <3> 3972 1386 5358 515 4850 1668 6518
4A0675 605 <3> 4191 1685 5875 675 4861 2037 6898
402 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
A.6 Drive Derating Data
A.6 Drive Derating Data
The drive can be operated at above the rated temperature, altitude, and default carrier frequency by derating the drive
capacity.
Carrier Frequency Derating
As the carrier frequency of the drive is increased above the factory default setting, the drives rated output current must
be derated according to Figure A.1 to Figure A.6.
Figure A.1
Figure A.1 Carrier Frequency Derating (CIMR-A2A0004 to 2A0138)
Figure A.2
Figure A.2 Carrier Frequency Derating (CIMR-A2A0169 to 2A0415)
Figure A.3
Figure A.3 Carrier Frequency Derating (CIMR-A4A0002 to 4A0103)
Normal Duty
Heavy Duty
80% of HD
70% of HD
2A0004 to 2A0069
2A0081 to 2A0138
2 kHz 8 kHz 15 kHz 0
YEC_
TMonly
Normal Duty
Heavy Duty
80% of HD
2 kHz 5 kHz 10 kHz 0
2A0169 to 2A0415
YEC_
TMonly
Normal Duty
Heavy Duty
60% of HD
2 kHz 8 kHz 15 kHz 0
4A0002 to
4A0103
YEC_
TMonly
A.6 Drive Derating Data
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 403
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Figure A.4
Figure A.4 Carrier Frequency Derating (CIMR-A4A0139 to 4A0362)
Figure A.5
Figure A.5 Carrier Frequency Derating (CIMR-A4A0414)
Figure A.6
Figure A.6 Carrier Frequency Derating (CIMR-A4A0515 and 4A0675)
Temperature Derating
To ensure the maximum performance life, the drives output current must be derated like shown in Figure A.7 when the
drive is installed in areas with high ambient temperature or if drives are Side-by-Side mounted in a cabinet. In order to
ensure reliable drive overload protection, the parameters L8-12 and L8-35 must also be set according to the installation
conditions.
Parameter Settings
No. Name Description Range Def.
L8-12
Ambient Temperature
Setting
Adjust the drive overload (oL2) protection level when the drive is installed in an environment
that exceeds its ambient temperature rating.
-10 to 50 40C
L8-35
Installation Method
Selection
0: IP00 Enclosure
1: Side-by-Side Mounting
2: NEMA Type 1 Enclosure
3: Finless Drive or External Heatsink Installation
0 to 3 0
Normal Duty
Heavy Duty
70% of HD
2 kHz 5 kHz 10 kHz 0
4A0139 to 4A0362
YEC_
TMonly
5 kHz 2 kHz 0
4A0414
Normal Duty
Heavy Duty
YEC_TMon
ly
5 kHz 2 kHz 0
4A05154A0675
Normal Duty
Heavy Duty
83% of HD
YEC_TMonl
y
A.6 Drive Derating Data
404 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
IP00 Enclosure
Drive operation between -10C and 50C allows 100% continuous current without derating.
Side-by-Side Mounting
Drive operation between -10C and 30C allows 100% continuous current without derating. Operation between 30C
and 50C requires output current derating.
NEMA Type 1 Enclosure
Drive operation between -10C and 40C allows 100% continuous current without derating. Operation between 40C
and 50C requires output current derating.
External Heatsink Installation, Finless Drive
Drive operation between -10C and 40C allows 100% continuous current without derating. Operation between 40C
and 50C requires output current derating.
Figure A.7
Figure A.7 Ambient Temperature and Installation Method Derating
Altitude Derating
The drive standard ratings are valid for an installation altitude up to 1000 m. If the altitude exceeds 1000 m both the drive
rated voltage and the rated output current must be derated for 1% per 100 m. The maximum altitude is 3000 m.
100
85
70
55
0
L8-35=2: NEMA Type 1 Enclosure
L8-35=3: External Heatsink lnstallation or
Finless Drive with C3 filter
L8-35=0: IP00 Enclosure
30 -10 40 50
Drive Rating
(%)
L8-12
(Ambient temp: C)
L8-35=1: Side-by-Side Mounting
common_
TMonly
Appendix: B
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 405
Parameter List
This appendix contains a full listing of all parameters and settings available in the drive.
B.1 UNDERSTANDING THE PARAMETER TABLE. . . . . . . . . . . . . . . . . . . . . . . . . . . 406
B.2 PARAMETER GROUPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407
B.3 PARAMETER TABLE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 408
B.4 CONTROL MODE DEPENDENT PARAMETER DEFAULT VALUES . . . . . . . . . . 462
B.5 V/F PATTERN DEFAULT VALUES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 464
B.6 DEFAULTS BY DRIVE MODEL SELECTION (O2-04) AND ND/HD (C6-01). . . . . 466
B.7 PARAMETERS THAT CHANGE WITH THE MOTOR CODE SELECTION. . . . . . 472
406 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
B.1 Understanding the Parameter Table
B.1 Understanding the Parameter Table
Control Modes, Symbols, and Terms
The table below lists terms and symbols used in this section to indicate which parameters are available in which control
modes.
Note: For detailed instructions on each control mode, Refer to Control Mode Selection on page 30.
Table B.1 Symbols and Icons Used in the Parameter Table
Note: If a parameter is not available in a certain control mode, the symbol for that control mode is grayed out.
Symbol Description
Indicates the parameter is accessible in all control modes.
Parameter is available when operating the drive with V/f Control.
Parameter is available when operating the drive with V/f with PG Control.
Parameter is available when operating the drive with Open Loop Vector.
Parameter is available when operating the drive with Closed Loop Vector.
Parameter is available when operating the drive with Open Loop Vector for PM motors.
Parameter is available when operating the drive with Advanced Open Loop Vector for PM motors.
Parameter is available when operating the drive with Closed Loop Vector for PM motors.
Indicates this parameter can be changed during run.
Motor 2 Refers to a second motor when the drive is operating two motors. Switch between these motors using the multi-function input terminals.
All Modes
V/f
V/f w/PG
OLV
CLV
OLV/PM
AOLV/PM
CLV/PM
B.2 Parameter Groups
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B.2 Parameter Groups
Parameter Group Name Page Parameter Group Name Page
A1 Initialization Parameters 408 H2 Multi-Function Digital Outputs 435
A2 User Parameters 409 H3 Multi-Function Analog Inputs 438
b1 Operation Mode Selection 409 H4 Multi-Function Analog Outputs 440
b2 DC Injection Braking and Short Circuit Braking 410 H5 MEMOBUS/Modbus Serial Communication 440
b3 Speed Search 410 H6 Pulse Train Input/Output 441
b4 Timer Function 411 L1 Motor Protection 442
b5 PID Control 411 L2 Momentary Power Loss Ride-Thru 442
b6 Dwell Function 413 L3 Stall Prevention 443
b7 Droop Control 413 L4 Speed Detection 444
b8 Energy Saving 413 L5 Fault Restart 445
b9 Zero Servo 414 L6 Torque Detection 445
C1 Acceleration and Deceleration Times 414 L7 Torque Limit 446
C2 S-Curve Characteristics 415 L8 Drive Protection 446
C3 Slip Compensation 415 n1 Hunting Prevention 447
C4 Torque Compensation 416 n2 Speed Feedback Detection Control (AFR) Tuning 448
C5 Automatic Speed Regulator (ASR) 416 n3 High Slip Braking (HSB) and Overexcitation Braking 448
C6 Carrier Frequency 418 n5 Feed Forward Control 449
d1 Frequency Reference 419 n6 Online Tuning 449
d2 Frequency Upper/Lower Limits 420 n8 PM Motor Control Tuning 449
d3 Jump Frequency 420 o1 Digital Operator Display Selection 450
d4 Frequency Reference Hold and Up/Down 2 Function 420 o2 Digital Operator Keypad Functions 451
d5 Torque Control 421 o3 Copy Function 451
d6 Field Weakening and Field Forcing 421 o4 Maintenance Monitor Settings 451
d7 Offset Frequency 421 q DriveWorksEZ Parameters 452
E1 V/f Pattern for Motor 1 422 r DriveWorksEZ Connection Parameters 452
E2 Motor 1 Parameters 423 T1 Induction Motor Auto-Tuning 452
E3 V/f Pattern for Motor 2 423 T2 PM Motor Auto-Tuning 453
E4 Motor 2 Parameters 424 T3 ASR and Inertia Tuning 454
E5 PM Motor Settings 425 U1 Operation Status Monitors 455
F1 PG Speed Control Card (PG-B3/PG-X3) 426 U2 Fault Trace 457
F2 Analog Input Card (AI-A3) 428 U3 Fault History 458
F3 Digital Input Card (DI-A3) 428 U4 Maintenance Monitors 458
F4 Analog Monitor Card (AO-A3) 428 U5 PID Monitors 460
F5 Digital Output Card (DO-A3) 429 U6 Operation Status Monitors 460
F6 Communication Option Card 429 U8 DriveWorksEZ Monitors 461
H1 Multi-Function Digital Inputs 431
408 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
B.3 Parameter Table
B.3 Parameter Table
A: Initialization Parameters
The A parameter group creates the operating environment for the drive. This includes the parameter Access Level, Motor
Control Method, Password, User Parameters and more.
A1: Initialization Parameters
No.(Addr.) Name Description Setting Page
A1-00
(100H)
<3>
<2> Default setting value is dependent on the Application Preset selected with parameter A1-06.
<3> Parameter setting value is not reset to the default value when the drive is initialized.
<48> Regional default settings
Setting 0: Asia (Model code: CIMR-ATA)
Setting 1: Japan (Model code: CIMR-AAA)
Setting 7: China (Model code: CIMR-ABA)
<49> Regional default settings
Setting 2: Japan (Model code: CIMR-AAA) and Asia (Model code: CIMR-ATA)
Setting 0: China (Model code: CIMR-ABA)
Language Selection
0: English
1: Japanese
2: German
3: French
4: Italian
5: Spanish
6: Portuguese
7: Chinese
Default: <48>
Min: 0
Max: 7
132
A1-01
(101H)
<2>
Access Level Selection 0: View and set A1-01 and A1-04. U- parameters can also be viewed.
1: User Parameters (access to a set of parameters selected by the user, A2-01 to A2-32)
2: Advanced Access (access to view and set all parameters)
Default: 2
Min: 0
Max: 2
132
A1-02
(102H)
<3>
Control Method Selection
0: V/f Control
1: V/f Control with PG
2: Open Loop Vector Control
3: Closed Loop Vector Control
5: Open Loop Vector Control for PM
6: Advanced Open Loop Vector Control for PM
7: Closed Loop Vector Control for PM
Default: <49>
Default: 2
Min: 0
Max: 7
132
A1-03
(103H)
Initialize Parameters
0: No initialization
1110: User Initialize (parameter values must be stored using parameter o2-03)
2220: 2-wire initialization
3330: 3-wire initialization
5550: oPE04 error reset
Default: 0
Min: 0
Max: 5550
133
A1-04
(104H)
Password
When the value set into A1-04 does not match the value set into A1-05, parameters A1-01
through A1-03, A1-06, and A2-01 through A2-33 cannot be changed.
Default: 0000
Min: 0000
Max: 9999
134
A1-05
(105H)
Password Setting
A1-06
(127H)
Application Preset
0: General-purpose
1: Water supply pump
2: Conveyor
3: Exhaust fan
4: HVAC fan
5: Air compressor
6: Elevator
7: Hoist
Default: 0
Min: 0
Max: 7
135
A1-07
(128H)
DriveWorksEZ Function Selection 0: DWEZ disabled
1: DWEZ enabled
2: Digital input (enabled when H1- = 9F)
Default: 0
Min: 0
Max: 2
135
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
B.3 Parameter Table
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 409
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A2: User Parameters
b: Application
Application parameters configure the source of the Run command, DC Injection Braking, Speed Search, timer functions,
PID control, the Dwell function, Energy Savings, and a variety of other application-related settings.
b1: Operation Mode Selection
No.(Addr.) Name Description Setting Page
A2-01 to
A2-32
(106 to 125H)
<1> Default setting value is dependent on parameter A1-06. This setting value is 0 when A1-06 = 0, and 1 when A1-06 does not equal 0.
<2> Default setting value is determined by the Application Preset selected with parameter A1-06.
User Parameters 1 to 32
Parameters that were recently edited are listed here. The user can also select parameters to
appear here for quick access.
Default: <2>
Min: b1-01
Max: o2-08
136
A2-33
(126H)
User Parameter Automatic
Selection
0: Parameters A2-01 through A2-32 are reserved for the user to create a list of User Parameters.
1: Save history of recently viewed parameters. Recently edited parameters will be saved to A2-
17 through A2-32 for quick access.
Default: 1 <1>
Min: 0
Max: 1
136
No.(Addr.) Name Description Setting Page
b1-01
(180H)
Frequency Reference Selection 1
0: Digital operator
1: Analog input terminals
2: MEMOBUS/Modbus communications
3: Option PCB
4: Pulse input (terminal RP)
Default: 1
Min: 0
Max: 4
137
b1-02
(181H)
Run Command Selection 1
0: Digital operator
1: Digital input terminals
2: MEMOBUS/Modbus communications
3: Option PCB
Default: 1
Min: 0
Max: 3
138
b1-03
(182H)
Stopping Method Selection
0: Ramp to stop
1: Coast to stop
2: DC Injection Braking to stop
3: Coast with timer
Default: 0
Min: 0
Max: 3 <11>
139
b1-04
(183H)
Reverse Operation Selection
0: Reverse enabled.
1: Reverse disabled.
Default: 0
Min: 0
Max: 1
141
b1-05
(184H)
Action Selection below Minimum
Output Frequency
0: Operates according to frequency reference (E1-09 is disabled).
1: Output shuts off (coast to stop if less than E1-09).
2: Operates according to E1-09 (frequency reference set to E1-09).
3: Zero speed (frequency reference becomes zero when less than E1-09).
Default: 0
Min: 0
Max: 3
141
b1-06
(185H)
Digital Input Reading 0: Input status is read once and processed immediately (for quick response)
1: Input is read twice and processed only if the status is the same in both readings (robust
against noisy signals)
Default: 1
Min: 0
Max: 1
142
b1-07
(186H)
LOCAL/REMOTE Run Selection
0: An external Run command has to be cycled at the new source to be activated.
1: An external Run command at new source is accepted immediately.
Default: 0
Min: 0
Max: 1
143
b1-08
(187H)
Run Command Selection while in
Programming Mode
0: Run command not accepted while in the Programming Mode.
1: Run command accepted while in the Programming Mode.
2: Prohibit entering Programming Mode during run.
Default: 0
Min: 0
Max: 2
143
b1-14
(1C3H)
Phase Order Selection
0: Standard
1: Switch phase order (reverses the direction of the motor)
Default: 0
Min: 0
Max: 1
143
b1-15
(1C4H)
Frequency Reference Selection 2
Enabled when an input terminal set for External reference (H1- = 2) closes.
0: Digital operator
1: Terminals (analog input terminals)
2: MEMOBUS/Modbus communications
3: Option card
4: Pulse train input
Default: 0
Min: 0
Max: 4
144
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
All Modes
common_
TMonly
B.3 Parameter Table
410 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
b2: DC Injection Braking and Short Circuit Braking
b3: Speed Search
b1-16
(1C5H)
Run Command Selection 2
Enabled when a terminal set for External reference (H1- = 2) closes.
0: Digital operator
1: Digital input terminals
2: MEMOBUS/Modbus communications
3: Option card
Default: 0
Min: 0
Max: 3
144
b1-17
(1C6H)
Run Command at Power Up
0: Disregarded. A new Run command needs to be issued after power up.
1: Allowed. Motor will start immediately after power up if a Run command is already enabled.
Default: 0
Min: 0
Max: 1
144
<11> Setting 2 and 3 are not available when using CLV.
No.(Addr.) Name Description Setting Page
b2-01
(189H)
<7> A coasting motor may require a braking resistor circuit to bring the motor to a stop in the required time.
<10> Default setting is determined by the control mode (A1-02).
DC Injection Braking Start
Frequency Sets the frequency at which DC Injection Braking starts when Ramp to stop (b1-03 = 0) is
selected.
Default: <10>
Min: 0.0 Hz
Max: 10.0 Hz
144
b2-02
(18AH)
DC Injection Braking Current
Sets the DC Injection Braking current as a percentage of the drive rated current.
Default: 50%
Min: 0%
Max: 100%
145
b2-03
(18BH)
DC Injection Braking Time at Start
Sets the time of DC Injection Braking (Zero Speed Control when in CLV and CLV/PM) time at
start. Disabled when set to 0.00 s.
Default: 0.00 s
Min: 0.00 s
Max: 10.00 s
145
b2-04
(18CH)
DC Injection Braking Time at Stop
Sets the time of DC Injection Braking (Zero Speed Control when in CLV and CLV/PM) at stop.
Default: <10>
Min: 0.00 s
Max: 10.00 s
145
b2-08
(190H)
Magnetic Flux Compensation
Value
Sets the magnetic flux compensation as a percentage of the no-load current value (E2-03).
Default: 0%
Min: 0%
Max: 1000%
146
b2-12
(1BAH)
Short Circuit Brake Time at Start
Sets the time for Short Circuit Braking operation at start. <7>
Default: 0.00 s
Min: 0.00 s
Max: 25.50 s
146
b2-13
(1BBH)
Short Circuit Brake Time at Stop
Sets the Short Circuit Braking operation time at stop. <7>
Default: 0.50 s
Min: 0.00 s
Max: 25.50 s
146
b2-18
(177H)
Short Circuit Braking Current
Determines the current level for Short Circuit Braking. Set as a percentage of the motor rated
current.
Default: 100.0%
Min: 0.0%
Max: 200.0%
146
No.(Addr.) Name Description Setting Page
b3-01
(191H)
Speed Search Selection at Start
0: Disabled
1: Enabled
Default: <10>
Min: 0
Max: 1
150
b3-02
(192H)
Speed Search Deactivation Current
Sets the current level at which the speed is assumed to be detected and Speed Search is ended.
Set as a percentage of the drive rated current.
Default: <10>
Min: 0%
Max: 200%
150
b3-03
(193H)
Speed Search Deceleration Time
Sets output frequency reduction time during Speed Search.
Default: 2.0 s
Min: 0.1 s
Max: 10.0 s
150
b3-04
(194H)
V/f Gain during Speed Search
Determines how much to lower the V/f ratio during Speed Search.
Output voltage during Speed Search equals the V/f setting multiplied by b3-04.
Default: <9>
Min: 10%
Max: 100%
150
No.(Addr.) Name Description Setting Page
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
B.3 Parameter Table
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 411
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b4: Timer Function
b5: PID Control
b3-05
(195H)
Speed Search Delay Time
When using an external contactor on the output side, b3-05 delays executing Speed Search after
a momentary power loss to allow time for the contactor to close.
Default: 0.2 s
Min: 0.0 s
Max: 100.0 s
150
b3-06
(196H)
Output Current 1 during Speed
Search
Sets the current injected to the motor at the beginning of Speed Estimation Speed Search. Set as
a coefficient for the motor rated current.
Default: <9>
Min: 0.0
Max: 2.0
150
b3-10
(19AH)
Speed Search Detection
Compensation Gain
Sets the gain which is applied to the speed detected by Speed Estimation Speed Search before
the motor is reaccelerated. Increase this setting if ov occurs when performing Speed Search
after a relatively long period of baseblock.
Default: 1.05
Min: 1.00
Max: 1.20
151
b3-14
(19EH)
Bi-Directional Speed Search
Selection
0: Disabled (uses the direction of the frequency reference)
1: Enabled (drive detects which way the motor is rotating)
Default: <10>
Min: 0
Max: 1
151
b3-17
(1F0H)
Speed Search Restart Current
Level
Sets the Speed Search restart current level as a percentage of the drive rated current.
Default: 150%
Min: 0%
Max: 200%
151
b3-18
(1F1H)
Speed Search Restart Detection
Time
Sets the time to detect Speed Search restart.
Default: 0.10 s
Min: 0.00 s
Max: 1.00 s
151
b3-19
(1F2H)
Number of Speed Search Restarts
Sets the number of times the drive can attempt to restart when performing Speed Search.
Default: 3
Min: 0
Max: 10
151
b3-24
(1C0H)
Speed Search Method Selection
0: Current Detection
1: Speed Estimation
Default: 0
Min: 0
Max: 1
151
b3-25
(1C8H)
Speed Search Wait Time
Sets the time the must wait between each Speed Search restart attempt.
Default: 0.5 s
Min: 0.0 s
Max: 30.0 s
151
<9> Default setting value is dependent on the drive model (o2-04) and the Drive Duty (C6-01).
<10> Default setting is determined by the control mode (A1-02).
No.(Addr.) Name Description Setting Page
b4-01
(1A3H)
Timer Function On-Delay Time
Used to set the on-delay and off-delay times for a digital timer output (H2-=12). The output
is triggered by a digital input programmed to H1-=18)
Default: 0.0 s
Min: 0.0 s
Max: 3000.0 s
152
b4-02
(1A4H)
Timer Function Off-Delay Time
Default: 0.0 s
Min: 0.0 s
Max: 3000.0 s
152
No.(Addr.) Name Description Setting Page
b5-01
(1A5H)
PID Function Setting
0: Disabled
1: Enabled (PID output becomes output frequency reference, deviation D controlled)
2: Enabled (PID output becomes output frequency reference, feedback D controlled)
3: Enabled (PID output added to frequency reference, deviation D controlled)
4: Enabled (PID output added to frequency reference, feedback D controlled)
Default: 0
Min: 0
Max: 4
156
b5-02
(1A6H)
Proportional Gain Setting (P)
Sets the proportional gain of the PID controller.
Default: 1.00
Min: 0.00
Max: 25.00
156
b5-03
(1A7H)
Integral Time Setting (I)
Sets the integral time for the PID controller.
Default: 1.0 s
Min: 0.0 s
Max: 360.0 s
156
b5-04
(1A8H)
Integral Limit Setting
Sets the maximum output possible from the integrator as a percentage of the maximum output
frequency.
Default: 100.0%
Min: 0.0%
Max: 100.0%
156
No.(Addr.) Name Description Setting Page
All Modes
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
common_
TMonly
B.3 Parameter Table
412 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
b5-05
(1A9H)
Derivative Time (D)
Sets D control derivative time.
Default: 0.00 s
Min: 0.00 s
Max: 10.00 s
156
b5-06
(1AAH)
PID Output Limit
Sets the maximum output possible from the entire PID controller as a percentage of the
maximum output frequency.
Default: 100.0%
Min: 0.0%
Max: 100.0%
156
b5-07
(1ABH)
PID Offset Adjustment
Applies an offset to the PID controller output. Set as a percentage of the maximum output
frequency.
Default: 0.0%
Min: -100.0%
Max: 100.0%
157
b5-08
(1ACH)
PID Primary Delay Time Constant
Sets a low pass filter time constant on the output of the PID controller.
Default: 0.00 s
Min: 0.00 s
Max: 10.00 s
157
b5-09
(1ADH)
PID Output Level Selection
0: Normal output (direct acting)
1: Reverse output (reverse acting)
Default: 0
Min: 0
Max: 1
157
b5-10
(1AEH)
PID Output Gain Setting
Sets the gain applied to the PID output.
Default: 1.00
Min: 0.00
Max: 25.00
157
b5-11
(1AFH)
PID Output Reverse Selection 0: Negative PID output triggers zero limit.
1: Rotation direction reverses with negative PID output.
When using setting 1, make sure reverse operation is permitted by parameter b1-04.
Default: 0
Min: 0
Max: 1
157
b5-12
(1B0H)
PID Feedback Loss Detection
Selection
0: No fault. Digital output only.
1: Fault detection. Alarm output, drive continues operation.
2: Fault detection. Fault output, drive output is shut off.
3: No fault. Digital output only. No fault detection when PID control is disabled.
4: Fault detection. Alarm is triggered and drive continues to run. Fault detection even when PID
is disabled.
5: Fault detection. Drive output shuts off. No fault detection when PID control is disabled.
Default: 0
Min: 0
Max: 5
158
b5-13
(1B1H)
PID Feedback Loss Detection
Level
Sets the PID feedback loss detection level as a percentage of the maximum output frequency.
Default: 0%
Min: 0%
Max: 100%
159
b5-14
(1B2H)
PID Feedback Loss Detection
Time
Sets a delay time for PID feedback loss.
Default: 1.0 s
Min: 0.0 s
Max: 25.5 s
159
b5-15
(1B3H)
PID Sleep Function Start Level
Sets the frequency level that triggers the sleep function.
Default: 0.0 Hz
Min: 0.0 Hz
Max: 400.0 Hz
159
b5-16
(1B4H)
PID Sleep Delay Time
Sets a delay time before the sleep function is triggered.
Default: 0.0 s
Min: 0.0 s
Max: 25.5 s
160
b5-17
(1B5H)
PID Accel/Decel Time
Sets the acceleration and deceleration time to PID setpoint.
Default: 0.0 s
Min: 0.0 s
Max: 6000.0 s
160
b5-18
(1DCH)
PID Setpoint Selection
0: Disabled
1: Enabled
Default: 0
Min: 0
Max: 1
160
b5-19
(1DDH)
PID Setpoint Value
Sets the PID target value when b5-18 = 1. Set as a percentage of the maximum output
frequency.
Default: 0.00%
Min: 0.00%
Max: 100.00%
160
b5-20
(1E2H)
PID Setpoint Scaling
0: 0.01Hz units
1: 0.01% units (100% = max output frequency)
2: r/min (number of motor poles must entered)
3: User-set (set scaling to b5-38 and b5-39)
Default: 1
Min: 0
Max: 3
160
b5-34
(19FH)
PID Output Lower Limit
Sets the minimum output possible from the PID controller as a percentage of the maximum
output frequency.
Default: 0.00%
Min: -100.0%
Max: 100.0%
161
b5-35
(1A0H)
PID Input Limit
Limits the PID control input (deviation signal) as a percentage of the maximum output
frequency. Acts as a bipolar limit.
Default: 1000.0%
Min: 0%
Max: 1000.0%
161
b5-36
(1A1H)
PID Feedback High Detection
Level
Sets the PID feedback high detection level as a percentage of the maximum output frequency.
Default: 100%
Min: 0%
Max: 100%
159
b5-37
(1A2H)
PID Feedback High Detection
Time
Sets the PID feedback high level detection delay time.
Default: 1.0 s
Min: 0.0 s
Max: 25.5 s
159
No.(Addr.) Name Description Setting Page
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
B.3 Parameter Table
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 413
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b6: Dwell Function
b7: Droop Control
b8: Energy Saving
b5-38
(1FEH)
PID Setpoint User Display
Sets the display value of U5-01 and U5-04 when the maximum frequency is output.
Default: <5>
Min: 1
Max: 60000
161
b5-39
(1FFH)
PID Setpoint Display Digits
0: No decimal places
1: One decimal places
2: Two decimal places
3: Three decimal places
Default: <5>
Min: 0
Max: 3
161
b5-40
(17FH)
Frequency Reference Monitor
Content during PID 0: Display the frequency reference (U1-01) after PID compensation has been added.
1: Display the frequency reference (U1-01) before PID compensation has been added.
Default: 0
Min: 0
Max: 1
161
<5> Default setting is dependent on PID setpoint scaling (b5-20).
No.(Addr.) Name Description Setting Page
b6-01
(1B6H)
Dwell Reference at Start
Parameters b6-01 and b6-02 set the frequency to hold and the time to maintain that frequency at
start.
Parameters b6-03 and b6-04 set the frequency to hold and the time to maintain that frequency at
stop.
Default: 0.0 Hz
Min: 0.0 Hz
Max: 400.0 Hz
162
b6-02
(1B7H)
Dwell Time at Start
Default: 0.0 s
Min: 0.0 s
Max: 10.0 s
162
b6-03
(1B8H)
Dwell Reference at Stop
Default: 0.0 Hz
Min: 0.0 Hz
Max: 400.0 Hz
162
b6-04
(1B9H)
Dwell Time at Stop
Default: 0.0 s
Min: 0.0 s
Max: 10.0 s
162
No.(Addr.) Name Description Setting Page
b7-01
(1CAH)
Droop Control Gain
Sets the speed reduction gain applied at a torque reference of 100%. Set as a percentage of
motor base speed.
Default: 0.0%
Min: 0.0%
Max: 100.0%
163
b7-02
(1CBH)
Droop Control Delay Time.
Used to adjust the responsiveness of Droop Control.
Default: 0.05 s
Min: 0.03 s
Max: 2.00 s
163
No.(Addr.) Name Description Setting Page
b8-01
(1CCH)
Energy Saving Control Selection
0: Disabled
1: Enabled
Default: <10>
Min: 0
Max: 1
164
b8-02
(1CDH)
Energy Saving Gain
Sets the gain used for Energy Saving.
Default: <10>
Min: 0.0
Max: 10.0
164
b8-03
(1CEH) Energy Saving Control Filter Time
Constant
Sets a time constant for Energy Saving.
Default: <4>
Min: 0.00 s
Max: 10.00 s
164
b8-04
(1CFH)
Energy Saving Coefficient Value
Determines the level of maximum motor efficiency. Setting range is 0.0 to 2000.0 maximum
output up to 3.7 kW. The display resolution depends on the rated output power of the drive after
the Drive Duty has been set in parameter C6-01. Refer to Model Number and Nameplate
Check on page 31.
Default: <8> <9>
Min: 0.00
Max: 655.00
164
b8-05
(1D0H)
Power Detection Filter Time
Sets a time constant filter for output power detection.
Default: 20 ms
Min: 0 ms
Max: 2000 ms
164
b8-06
(1D1H)
Search Operation Voltage Limit
Sets the limit for the voltage search operation as a percentage of the motor rated voltage.
Default: 0%
Min: 0%
Max: 100%
165
No.(Addr.) Name Description Setting Page
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
B.3 Parameter Table
414 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
b9: Zero Servo
C: Tuning
C parameters are used to adjust the acceleration and deceleration times, S-curves, slip compensation, torque
compensation, and carrier frequency selections.
C1: Acceleration and Deceleration Times
<4> Default setting is dependent on the control mode (A1-02), the drive model (o2-04), and the Drive Duty (C6-01).
<8> Parameter value changes automatically if E2-11 is manually changed or changed by Auto-Tuning.
<9> Default setting value is dependent on the drive model (o2-04) and the Drive Duty (C6-01).
<10> Default setting is determined by the control mode (A1-02).
No.(Addr.) Name Description Setting Page
b9-01
(1DAH)
Zero Servo Gain
Sets the position loop gain for the Zero Servo function.
Default: 5
Min: 0
Max: 100
165
b9-02
(1DBH)
Zero Servo Completion Width
Sets the range to trigger an output terminal set for Zero Servo Complete during Zero Servo
operation.
Default: 10
Min: 0
Max: 16383
165
No.(Addr.) Name Description Setting Page
C1-01
(200H)
<12> Setting range value is dependent on parameter C1-10, Accel/Decel Time Setting Units. When C1-10 = 0 (units of 0.01 seconds), the setting
range becomes 0.00 to 600.00 seconds.
Acceleration Time 1
Sets the time to accelerate from 0 to maximum frequency.
Default: 10.0 s
Min: 0.0 s
Max: 6000.0 s <12>
166
C1-02
(201H)
Deceleration Time 1
Sets the time to decelerate from maximum frequency to 0.
166
C1-03
(202H)
Acceleration Time 2
Sets the time to accelerate from 0 to maximum frequency.
166
C1-04
(203H)
Deceleration Time 2
Sets the time to decelerate from maximum frequency to 0.
166
C1-05
(204H) Acceleration Time 3 (Motor 2
Accel Time 1)
Sets the time to accelerate from 0 to maximum frequency.
166
C1-06
(205H) Deceleration Time 3 (Motor 2
Decel Time 1)
Sets the time to decelerate from maximum frequency to 0.
166
C1-07
(206H) Acceleration Time 4 (Motor 2
Accel Time 2)
Sets the time to accelerate from 0 to maximum frequency.
166
C1-08
(207H) Deceleration Time 4 (Motor 2
Decel Time 2)
Sets the time to decelerate from maximum frequency to 0.
166
C1-09
(208H)
Fast Stop Time
Sets the time for the Fast Stop function.
167
C1-10
(209H)
Accel/Decel Time Setting Units
0: 0.01 s (0.00 to 600.00 s)
1: 0.1 s (0.0 to 6000.0 s)
Default: 1
Min: 0
Max: 1
168
C1-11
(20AH)
Accel/Decel Time Switching
Frequency
Sets the frequency to switch between accel/decel time settings
Default: 0.0 Hz
Min: 0.0 Hz
Max: 400.0 Hz
167
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
B.3 Parameter Table
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 415
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C2: S-Curve Characteristics
C3: Slip Compensation
No.(Addr.) Name Description Setting Page
C2-01
(20BH)
<10> Default setting is determined by the control mode (A1-02).
S-Curve Characteristic at Accel
Start
The S-curve can be controlled at the four points shown below.
Default: 0.20 s <10>
Min: 0.00 s
Max: 10.00 s
168
C2-02
(20CH)
S-Curve Characteristic at Accel
End
Default: 0.20 s
Min: 0.00 s
Max: 10.00 s
168
C2-03
(20DH)
S-Curve Characteristic at Decel
Start
Default: 0.20 s
Min: 0.00 s
Max: 10.00 s
168
C2-04
(20EH)
S-Curve Characteristic at Decel
End
Default: 0.00 s
Min: 0.00 s
Max: 10.00 s
168
No.(Addr.) Name Description Setting Page
C3-01
(20FH)
<10> Default setting is determined by the control mode (A1-02).
<15> Default setting is determined by the control mode for motor 2 (E3-01).
Slip Compensation Gain
Sets the gain for the motor slip compensation function used for motor 1.
Default: <10>
Min: 0.0
Max: 2.5
169
C3-02
(210H) Slip Compensation Primary Delay
Time
Adjusts the slip compensation function delay time used for motor 1.
Default: <10>
Min: 0 ms
Max: 10000 ms
169
C3-03
(211H)
Slip Compensation Limit
Sets an upper limit for the slip compensation function as a percentage of motor rated slip for
motor 1 (E2-02).
Default: 200%
Min: 0%
Max: 250%
169
C3-04
(212H)
Slip Compensation Selection
during Regeneration
0: Disabled.
1: Enabled above 6 Hz.
2: Enabled whenever slip compensation is possible.
Default: 0
Min: 0
Max: 2
169
C3-05
(213H)
Output Voltage Limit Operation
Selection
0: Disabled.
1: Enabled. Automatically decreases motor flux when output voltage saturation is reached.
Default: 0
Min: 0
Max: 1
170
C3-21
(33EH)
Motor 2 Slip Compensation Gain
Sets the slip compensation gain used for motor 2.
Default: <15>
Min: 0.0
Max: 2.5
170
C3-22
(241H) Motor 2 Slip Compensation
Primary Delay Time
Sets the slip compensation delay time used for motor 2.
Default: <15>
Min: 0 ms
Max: 10000 ms
170
C3-23
(242H)
Motor 2 Slip Compensation Limit
Sets the upper limit for the slip compensation function for motor 2. Set as a percentage of the
motor rated slip (E4-02).
Default: 200%
Min: 0%
Max: 250%
170
C3-24
(243H)
Motor 2 Slip Compensation
Selection During Regeneration
0: Disabled.
1: Enabled above 6 Hz.
2: Enabled whenever slip compensation is possible.
Default: 0
Min: 0
Max: 2
171
All Modes
common_
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Run Command
Time
Output Frequency
C2-01 C2-04
C2-02 C2-03
ON OFF
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
B.3 Parameter Table
416 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
C4: Torque Compensation
C5: Automatic Speed Regulator (ASR)
No.(Addr.) Name Description Setting Page
C4-01
(215H)
<10> Default setting is determined by the control mode (A1-02).
<16> Default setting is determined by the control mode (A1-02) and the drive model (o2-04).
Torque Compensation Gain
Sets the gain for the automatic torque (voltage) boost function and helps to produce better
starting torque. Used for motor 1.
Default: <10>
Min: 0.00
Max: 2.50
171
C4-02
(216H) Torque Compensation Primary
Delay Time 1
Sets the torque compensation filter time.
Default: <16>
Min: 0 ms
Max: 60000 ms
171
C4-03
(217H)
Torque Compensation at Forward
Start
Sets torque compensation at forward start as a percentage of motor torque.
Default: 0.0%
Min: 0.0%
Max: 200.0%
172
C4-04
(218H)
Torque Compensation at Reverse
Start
Sets torque compensation at reverse start as a percentage of motor torque.
Default: 0.0%
Min: -200.0%
Max: 0.0%
172
C4-05
(219H)
Torque Compensation Time
Constant
Sets the time constant for torque compensation at forward start and reverse start (C4-03 and C4-
04).
Default: 10 ms
Min: 0 ms
Max: 200 ms
172
C4-06
(21AH)
Torque Compensation Primary
Delay Time 2
Sets the torque compensation time 2.
Default: 150 ms
Min: 0 ms
Max: 10000 ms
172
C4-07
(341H) Motor 2 Torque Compensation
Gain
Sets the torque compensation gain used for motor 2.
Default: 1.00
Min: 0.00
Max: 2.50
172
No.(Addr.) Name Description Setting Page
C5-01
(21BH)
ASR Proportional Gain 1
Sets the proportional gain of the speed control loop (ASR).
Default: <10>
Min: 0.00
Max: 300.00 <17>
175
C5-02
(21CH)
ASR Integral Time 1
Sets the integral time of the speed control loop (ASR).
Default: <10>
Min: 0.000 s
Max: 10.000 s
175
C5-03
(21DH)
ASR Proportional Gain 2
Sets the speed control gain 2 of the speed control loop (ASR).
Default: <10>
Min: 0.00
Max: 300.00 <17>
175
C5-04
(21EH)
ASR Integral Time 2
Sets the integral time 2 of the speed control loop (ASR).
Default: <10>
Min: 0.000 s
Max: 10.000 s
175
C5-05
(21FH)
ASR Limit
Sets the upper limit for the speed control loop (ASR) as a percentage of the maximum output
frequency (E1-04).
Default: 5.0%
Min: 0.0%
Max: 20.0%
176
C5-06
(220H)
ASR Primary Delay Time Constant
Sets the filter time constant for the time from the speed loop to the torque command output.
Default: <10>
Min: 0.000 s
Max: 0.500 s
176
C5-07
(221H)
ASR Gain Switching Frequency
Sets the frequency for switching between proportional gain 1, 2 and integral time 1, 2.
Default: 0.0 Hz
Min: 0.0 Hz
Max: 400.0 Hz
176
C5-08
(222H)
ASR Integral Limit
Sets the ASR integral upper limit as a percentage of rated load torque.
Default: 400%
Min: 0%
Max: 400%
176
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
B.3 Parameter Table
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 417
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C5-12
(386H)
Integral Operation during Accel/
Decel
0: Disabled. Integral functions are enabled only during constant speed.
1: Enabled. Integral functions are always enabled, during accel/decel and during constant speed.
Default: 0
Min: 0
Max: 1
176
C5-17
(276H)
Motor Inertia
Sets the motor inertia. This value is automatically set during ASR or Inertia Auto-Tuning.
Default: <9> <14>
Min: 0.0001 kgm
2
Max: 600.00 kgm
2
177
C5-18
(277H)
Load Inertia Ratio
Sets the ratio between the motor and load inertia. This value is automatically set during ASR or
Inertia Auto-Tuning.
Default: 1.0
Min: 0.0
Max: 6000.0
177
C5-21
(356H)
Motor 2 ASR Proportional Gain 1
Sets the proportional gain of the speed control loop (ASR) for motor 2.
Default: <15>
Min: 0.00
Max: 300.00 <17>
177
C5-22
(357H)
Motor 2 ASR Integral Time 1
Sets the integral time of the speed control loop (ASR) for motor 2.
Default: <15>
Min: 0.000 s
Max: 10.000 s
177
C5-23
(358H)
Motor 2 ASR Proportional Gain 2
Sets the speed control gain 2 of the speed control loop (ASR) for motor 2.
Default: <15>
Min: 0.00
Max: 300.00 <17>
177
C5-24
(359H)
Motor 2 ASR Integral Time 2
Sets the integral time 2 of the speed control loop (ASR) for motor 2.
Default: <15>
Min: 0.000 s
Max: 10.000 s
177
C5-25
(35AH)
Motor 2 ASR Limit
Sets the upper limit for the speed control loop (ASR) for motor 2 as a percentage of the
maximum output frequency (E3-04).
Default: 5.0%
Min: 0.0%
Max: 20.0%
177
C5-26
(35BH)
Motor 2 ASR Primary Delay Time
Constant
Sets the filter time constant for the time from the speed loop to the torque command output used
for motor 2.
Default: <15>
Min: 0.000 s
Max: 0.500 s
177
C5-27
(35CH)
Motor 2 ASR Gain Switching
Frequency
Sets the frequency for motor 2 used to switch between proportional gain 1 and 2, and between
the integral time 1 and 2.
Default: 0.0 Hz
Min: 0.0 Hz
Max: 400.0 Hz
177
C5-28
(35DH)
Motor 2 ASR Integral Limit
Sets the ASR integral upper limit for motor 2 as a percentage of rated load torque.
Default: 400%
Min: 0%
Max: 400%
177
C5-32
(361H)
Integral Operation during Accel/
Decel for Motor 2
0: Disabled. Integral functions for motor 2 are enabled only during constant speed.
1: Enabled. Integral functions are always enabled for motor 2, during accel/decel and during
constant speed.
Default: 0
Min: 0
Max: 1
178
C5-37
(278H)
Motor 2 Inertia
Sets the inertia of motor 2 alone without the load. This value is automatically set during ASR or
Inertia Auto-Tuning.
Default: <9>
Min: 0.0001 kgm
2
Max: 600.00 kgm
2
178
C5-38
(279H)
Motor 2 Load Inertia Ratio
Sets the ratio between the motor 2 and machine inertia. This value is automatically set during
ASR or Inertia Auto-Tuning.
Default: 1.0
Min: 0.0
Max: 6000.0
178
<9> Default setting is dependent on the control mode (A1-02), the drive model (o2-04), and the Drive Duty (C6-01).
<10> Default setting is determined by the control mode (A1-02).
<14> Default setting value is dependent on the motor code set to E5-01.
<15> Default setting is determined by the control mode for motor 2 (E3-01).
<17> The setting range is 1.00 to 300.0 in CLV and AOLV/PM.
No.(Addr.) Name Description Setting Page
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
B.3 Parameter Table
418 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
C6: Carrier Frequency
No.(Addr.) Name Description Setting Page
C6-01
(223H)
<4> Default setting is dependent on the control mode (A1-02), the drive model (o2-04), and the Drive Duty (C6-01).
<13> Default setting value is dependent on the carrier frequency selection (C6-02).
Drive Duty Selection
0: Heavy Duty (HD) for constant torque applications.
1: Normal Duty (ND) for variable torque applications.
Default: 0
Min: 0
Max: 1
178
C6-02
(224H)
Carrier Frequency Selection
1: 2.0 kHz
2: 5.0 kHz
3: 8.0 kHz
4: 10.0 kHz
5: 12.5 kHz
6: 15.0 kHz
7: Swing PWM1 (Audible sound 1)
8: Swing PWM2 (Audible sound 2)
9: Swing PWM3 (Audible sound 3)
A: Swing PWM4 (Audible sound 4)
B to E: No setting possible
F: User defined (determined by C6-03 through C6-05)
Default: <4>
Min: 1
Max: F
179
C6-03
(225H)
Carrier Frequency Upper Limit Note: C6-04 and C6-05 are available only in V/f and V/f w/PG control modes.
Determines the upper and lower limits for the carrier frequency.
In OLV, C6-03 determines the upper limit of the carrier frequency.
Default: <13>
Min: 1.0 kHz
Max: 15.0 kHz
179
C6-04
(226H)
Carrier Frequency Lower Limit
Default: <13>
Min: 1.0 kHz
Max: 15.0 kHz
179
C6-05
(227H)
Carrier Frequency Proportional
Gain
Default: <13>
Min: 0
Max: 99
179
C6-09
(22BH)
Carrier Frequency during
Rotational Auto-Tuning
0: Carrier Frequency = 5 kHz
1: Setting value for C6-03
Default: 0
Min: 0
Max: 1
180
All Modes
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All Modes
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All Modes
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Carrier Frequency
E1-04
Max Output
Frequency
Output Frequency
(C6-05) K
Output
Frequency
C6-03
C6-04
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
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B.3 Parameter Table
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 419
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d: References
Reference parameters are used to set the various frequency reference values during operation.
d1: Frequency Reference
No.(Addr.) Name Description Setting Page
d1-01
(280H)
<20> Range upper limit is determined by the maximum output frequency (E1-04) and the upper limit of the frequency reference (d2-01).
<26> The setting range is 0.0 to 66.0 in AOLV/PM.
Frequency Reference 1
Sets the frequency reference for the drive. Setting units are determined by parameter o1-03.
Default: 0.00 Hz
Min: 0.00 Hz
Max: 400.00 Hz
<20> <26>
182
d1-02
(281H)
Frequency Reference 2 182
d1-03
(282H)
Frequency Reference 3 182
d1-04
(283H)
Frequency Reference 4 182
d1-05
(284H)
Frequency Reference 5 182
d1-06
(285H)
Frequency Reference 6 182
d1-07
(286H)
Frequency Reference 7 182
d1-08
(287H)
Frequency Reference 8 182
d1-09
(288H)
Frequency Reference 9 182
d1-10
(28BH)
Frequency Reference 10 182
d1-11
(28CH)
Frequency Reference 11 182
d1-12
(28DH)
Frequency Reference 12 182
d1-13
(28EH)
Frequency Reference 13 182
d1-14
(28FH)
Frequency Reference 14 182
d1-15
(290H)
Frequency Reference 15 182
d1-16
(291H)
Frequency Reference 16 182
d1-17
(292H)
Jog Frequency Reference
Sets the jog frequency reference. Setting units are determined by parameter o1-03.
Default: 6.00 Hz
Min: 0.00 Hz
Max: 400.00 Hz
<20> <26>
182
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All Modes
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B.3 Parameter Table
420 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
d2: Frequency Upper/Lower Limits
d3: Jump Frequency
d4: Frequency Reference Hold and Up/Down 2 Function
No.(Addr.) Name Description Setting Page
d2-01
(289H)
Frequency Reference Upper Limit
Sets the frequency reference upper limit as a percentage of the maximum output frequency.
Default: 100.0%
Min: 0.0%
Max: 110.0%
184
d2-02
(28AH)
Frequency Reference Lower Limit
Sets the frequency reference lower limit as a percentage of the maximum output frequency.
Default: 0.0%
Min: 0.0%
Max: 110.0%
184
d2-03
(293H)
Master Speed Reference Lower
Limit Sets the lower limit for frequency references from analog inputs as a percentage of the
maximum output frequency.
Default: 0.0%
Min: 0.0
Max: 110.0%
184
No.(Addr.) Name Description Setting Page
d3-01
(294H)
<10> Default setting is determined by the control mode (A1-02).
Jump Frequency 1
Eliminates problems with resonant vibration of the motor/machine by avoiding continuous
operation in predefined frequency ranges. The drive accelerates and decelerates the motor
through the prohibited frequency ranges.
Setting 0.0 disables this function.
Parameters must be set so that d3-01 d3-02 d3-03.
Default: 0.0 Hz
Min: 0.0 Hz
Max: 400.0 Hz
184
d3-02
(295H)
Jump Frequency 2 184
d3-03
(296H)
Jump Frequency 3 184
d3-04
(297H)
Jump Frequency Width
Sets the dead-band width around each selected prohibited frequency reference point.
Default: <10>
Min: 0.0 Hz
Max: 20.0 Hz
184
No.(Addr.) Name Description Setting Page
d4-01
(298H)
Frequency Reference Hold
Function Selection 0: Disabled. Drive starts from zero when the power is switched on.
1: Enabled. At power up, the drive starts the motor at the Hold frequency that was saved.
Default: 0
Min: 0
Max: 1
185
d4-03
(2AAH) Frequency Reference Bias Step
(Up/Down 2) Sets the bias added to the frequency reference when the Up 2 and Down 2 digital inputs are
enabled (H1- = 75, 76).
Default: 0.00 Hz
Min: 0.00 Hz
Max: 99.99 Hz
187
d4-04
(2ABH) Frequency Reference Bias Accel/
Decel (Up/Down 2) 0: Use selected accel/decel time.
1: Use accel/decel time 4 (C1-07 and C1-08).
Default: 0
Min: 0
Max: 1
188
d4-05
(2ACH)
Frequency Reference Bias
Operation Mode Selection (Up/
Down 2)
0: Bias value is held if no input Up 2 or Down 2 is active.
1: When the Up 2 reference and Down 2 reference are both on or both off, the applied bias
becomes 0. The specified accel/decel times are used for acceleration or deceleration.
Default: 0
Min: 0
Max: 1
188
d4-06
(2ADH)
Frequency Reference Bias (Up/
Down 2) The Up/Down 2 bias value is saved in d4-06 when the frequency reference is not input by the
digital operator. Set as a percentage of the maximum output frequency.
Default: 0.0%
Min: -99.9%
Max: 100.0%
188
d4-07
(2AEH) Analog Frequency Reference
Fluctuation Limit (Up/Down 2)
Limits how much the frequency reference is allowed to change while an input terminal set for
Up 2 or Down 2 is enabled. If the frequency reference changes for more than the set value, then
the bias value is held and the drive accelerates or decelerates to the frequency reference. Set as a
percentage of the maximum output frequency.
Default: 1.0%
Min: 0.1%
Max: 100.0%
189
d4-08
(2AFH) Frequency Reference Bias Upper
Limit (Up/Down 2) Sets the upper limit for the bias and the value that can be saved in d4-06. Set as a percentage of
the maximum output frequency.
Default: 0.0%
Min: 0.0%
Max: 100.0%
189
d4-09
(2B0H) Frequency Reference Bias Lower
Limit (Up/Down 2) Sets the lower limit for the bias and the value that can be saved in d4-06. Set as a percentage of
the maximum output frequency.
Default: 0.0%
Min: -99.9%
Max: 0.0%
189
d4-10
(2B6H)
Up/Down Frequency Reference
Limit Selection 0: The lower limit is determined by d2-02 or an analog input.
1: The lower limit is determined by d2-02.
Default: 0
Min: 0
Max: 1
189
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All Modes
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All Modes
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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B.3 Parameter Table
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 421
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d5: Torque Control
d6: Field Weakening and Field Forcing
d7: Offset Frequency
No.(Addr.) Name Description Setting Page
d5-01
(29AH)
Torque Control Selection
0: Speed Control
1: Torque Control
Set to 0 when using a digital input to switch between Speed and Torque Control (H1- = 71).
Default: 0
Min: 0
Max: 1
193
d5-02
(29BH)
Torque Reference Delay Time
Sets a delay time for the torque reference signal. Used to suppress effects by noisy or fluctuating
torque reference signals.
Default: 0 ms
Min: 0 ms
Max: 1000 ms
193
d5-03
(29CH)
Speed Limit Selection
1: Limit set by the frequency reference in b1-01.
2: Limit set by d5-04.
Default: 1
Min: 1
Max: 2
193
d5-04
(29DH)
Speed Limit
Sets the speed limit during Torque Control as a percentage of the maximum output frequency.
Enabled when d5-03 = 2. A negative setting set a limit in the opposite direction of the Run
command.
Default: 0%
Min: -120%
Max: 120%
193
d5-05
(29EH)
Speed Limit Bias
Sets the speed limit bias as a percentage of the maximum output frequency.
The bias is applied to the specified speed limit and can adjust the margin for the speed limit.
Default: 10%
Min: 0%
Max: 120%
194
d5-06
(29FH)
Speed/Torque Control Switchover
Time
Sets the delay time for switching between Speed and Torque Control using an input terminal
(H1- = 71). Reference values are held during this switch delay time.
Default: 0 ms
Min: 0 ms
Max: 1000 ms
194
d5-08
(2B5H)
Unidirectional Speed Limit Bias
0: Disabled
1: Enabled
Default: 1
Min: 0
Max: 1
194
No.(Addr.) Name Description Setting Page
d6-01
(2A0H)
Field Weakening Level
Sets the drive output voltage for the Field Weakening function as a percentage of the maximum
output voltage.
Enabled when a multi-function input is set for Field Weakening (H1- = 63).
Default: 80%
Min: 0%
Max: 100%
194
d6-02
(2A1H)
Field Weakening Frequency Limit
Sets the lower limit of the frequency range where Field Weakening control is valid.
The Field Weakening command is valid only at frequencies above this setting and only when
the output frequency matches the frequency reference (speed agree).
Default: 0.0 Hz
Min: 0.0 Hz
Max: 400.0 Hz
194
d6-03
(2A2H)
Field Forcing Selection
0: Disabled
1: Enabled
Default: 0
Min: 0
Max: 1
195
d6-06
(2A5H)
Field Forcing Limit
Sets the upper limit of the excitation current command during magnetic field forcing. A setting
of 100% is equal to motor no-load current. Disabled only during DC Injection Braking.
Default: 400%
Min: 100%
Max: 400%
195
No.(Addr.) Name Description Setting Page
d7-01
(2B2H)
Offset Frequency 1
Added to the frequency reference when the digital input Frequency offset 1 (H1- = 44) is
switched on.
Default: 0.0%
Min: -100.0%
Max: 100.0%
195
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
All Modes
common_
TMonly
B.3 Parameter Table
422 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
E: Motor Parameters
E1: V/f Pattern for Motor 1
d7-02
(2B3H)
Offset Frequency 2
Added to the frequency reference when the digital input Frequency offset 2 (H1- = 45) is
switched on.
Default: 0.0%
Min: -100.0%
Max: 100.0%
195
d7-03
(2B4H)
Offset Frequency 3
Added to the frequency reference when the digital input Frequency offset 3 (H1- = 46) is
switched on.
Default: 0.0%
Min: -100.0%
Max: 100%
195
No.(Addr.) Name Description Setting Page
E1-01
(300H)
<3> Parameter setting value is not reset to the default value when the drive is initialized.
<4> Default setting is dependent on the control mode (A1-02), the drive model (o2-04), and the Drive Duty (C6-01).
<14> Default setting value is dependent on the motor code set to E5-01.
<18> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
<21> Parameter ignored when E1-11 (Motor 1 Mid Output Frequency 2) and E1-12 (Motor 1 Mid Output Frequency Voltage 2) are set to 0.0.
<26> The setting range is 0.0 to 66.0 in AOLV/PM.
<27> When Auto-Tuning is performed, E1-13 and E1-05 will be set to the same value.
<29> The setting range varies according to the motor code entered to E5-01 when using OLV/PM. The setting range is 0.0 to 400.0 Hz when E5-01
is set to FFFFH.
<30> The setting value is F in OLV.
Input Voltage Setting
This parameter must be set to the power supply voltage.
WARNING! Drive input voltage (not motor voltage) must be set in E1-01 for the protective
features of the drive to function properly. Failure to do so may result in equipment damage and/
or death or personal injury.
Default: 200 V<18>
Min: 155 V
Max: 255 V
196
E1-03
(302H)
V/f Pattern Selection
0: 50 Hz, Constant torque 1
1: 60 Hz, Constant torque 2
2: 60 Hz, Constant torque 3 (50 Hz base)
3: 72 Hz, Constant torque 4 (60 Hz base)
4: 50 Hz, Variable torque 1
5: 50 Hz, Variable torque 2
6: 60 Hz, Variable torque 3
7: 60 Hz, Variable torque 4
8: 50 Hz, High starting torque 1
9: 50 Hz, High starting torque 2
A: 60 Hz, High starting torque 3
B: 60 Hz, High starting torque 4
C: 90 Hz (60 Hz base)
D: 120 Hz (60 Hz base)
E: 180 Hz (60 Hz base)
F: Custom V/f, E1-04 through E1-13 settings define the V/f pattern
Default: F <3>
Min: 0
Max: F <30>
196
E1-04
(303H)
Maximum Output Frequency
These parameters are only applicable when E1-03 is set to F.
To set linear V/f characteristics, set the same values for E1-07 and E1-09. In this case, the
setting for E1-08 will be disregarded. Ensure that the four frequencies are set according to these
rules:
E1-09 E1-07 < E1-06 111 E1-04
Note that if E1-11 = 0, then both E1-11 and E1-12 are disabled, and the above conditions do not
apply.
Note: Some parameters may not be available depending on the control mode.
E1-07, E1-08 and E-10 are available only in the following control modes: V/f Control, V/f
with PG, Open Loop Vector.
E1-11, E1-12 and E-13 are available only in the following control modes: V/f Control, V/f
with PG, Open Loop Vector, Closed Loop Vector.
Default: <4> <14> <44>
Min: 40.0
Max: 400.0 <29>
200
E1-05
(304H)
Maximum Voltage
Default: <4> <14> <18>
Min: 0.00 V
Max: 255.0 V<18>
200
E1-06
(305H)
Base Frequency
Default: <4> <14> <44>
Min: 0.0
Max: E1-04 <29>
200
E1-07
(306H)
Middle Output Frequency
Default: <4> <44>
Min: 0.0
Max: E1-04
200
E1-08
(307H)
Middle Output Frequency Voltage
Default: <4> <18>
Min: 0.0 V
Max: 255.0 V<18>
200
E1-09
(308H)
Minimum Output Frequency
Default: <4> <14> <44>
Min: 0.0
Max: E1-04 <26> <29>
200
E1-10
(309H)
Minimum Output Frequency
Voltage
Default: <4> <18>
Min: 0.0 V
Max: 255.0 V<18>
200
E1-11
(30AH)
<21>
Middle Output Frequency 2
Default: 0.0 Hz
Min: 0.0
Max: E1-04 <26>
200
E1-12
(30BH)
<21>
Middle Output Frequency Voltage
2
Default: 0.0 V
Min: 0.0 V
Max: 255.0 V<18>
200
E1-13
(30CH)
Base Voltage
Default: 0.0 V
<18> <27>
Min: 0.0 V
Max: 255.0 V<18>
200
No.(Addr.) Name Description Setting Page
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
All Modes
common_
TMonly
Output Voltage (V)
Frequency (Hz)
E1-05
E1-12
E1-13
E1-08
E1-10
E1-09 E1-07 E1-06 E1-11 E1-04
B.3 Parameter Table
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 423
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E2: Motor 1 Parameters
E3: V/f Pattern for Motor 2
These parameters are hidden when a PM motor control mode has been selected for motor 1 (A1-02 = 5, 6, 7).
<44> The default value shown here is for the following localized drives: Japan (Model code: CIMR-AAA), Asia (Model code: CIMR-ATA)
For default value of China localized drive (Model code: CIMR-ABA), refer to Default Values of the China Localized Drive: CIMR-ABA
on page 465.
No.(Addr.) Name Description Setting Page
E2-01
(30EH)
<9> Default setting value is dependent on the drive model (o2-04) and the Drive Duty (C6-01).
<19> This value's number of decimal places depends on the drive model and the Heavy/Normal duty selection in parameter C6-01. The value will
have two decimal places (0.01 A) if the drive is set for a Maximum Applicable Motor Capacity up to 11 kW (refer to Table A.2 and Table A.3)
and one decimal place (0.1 A) if the set Maximum Applicable Motor Capacity is higher than 11 kW.
Motor Rated Current
Sets the motor nameplate full load current in Amps. Automatically set during Auto-Tuning.
Default: <9>
Min: 10% of drive rated
current
Max: 200% of drive
rated current <19>
201
E2-02
(30FH)
Motor Rated Slip
Sets the motor rated slip. Automatically set during Auto-Tuning.
Default: <9>
Min: 0.00 Hz
Max: 20.00 Hz
201
E2-03
(310H)
Motor No-Load Current
Sets the no-load current for the motor. Automatically set during Auto-Tuning.
Default: <9>
Min: 0 A
Max: E2-01 <19>
201
E2-04
(311H)
Number of Motor Poles
Sets the number of motor poles. Automatically set during Auto-Tuning.
Default: 4
Min: 2
Max: 48
201
E2-05
(312H)
Motor Line-to-Line Resistance
Sets the phase-to-phase motor resistance. Automatically set during Auto-Tuning.
Default: <9>
Min: 0.000
Max: 65.000
202
E2-06
(313H)
Motor Leakage Inductance
Sets the voltage drop due to motor leakage inductance as a percentage of motor rated voltage.
Automatically set during Auto-Tuning.
Default: <9>
Min: 0.0%
Max: 40.0%
202
E2-07
(314H)
Motor Iron-Core Saturation
Coefficient 1
Sets the motor iron saturation coefficient at 50% of magnetic flux. Automatically set during
Auto-Tuning.
Default: 0.50
Min: E2-07
Max: 0.50
202
E2-08
(315H)
Motor Iron-Core Saturation
Coefficient 2
Sets the motor iron saturation coefficient at 75% of magnetic flux. Automatically set during
Auto-Tuning.
Default: 0.75
Min: E2-07
Max: 0.75
202
E2-09
(316H)
Motor Mechanical Loss
Sets the motor mechanical loss as a percentage of motor rated power (kW).
Default: 0.0%
Min: 0.0%
Max: 10.0%
202
E2-10
(317H)
Motor Iron Loss for Torque
Compensation
Sets the motor iron loss.
Default: <9>
Min: 0 W
Max: 65535 W
202
E2-11
(318H)
Motor Rated Power
Sets the motor rated power in kilowatts (1 HP = 0.746 kW). Automatically set during
Auto-Tuning.
Default: <9>
Min: 0.00 kW
Max: 650.00 kW
203
No.(Addr.) Name Description Setting Page
E3-01
(319H)
Motor 2 Control Mode Selection
0: V/f Control
1: V/f Control with PG
2: Open Loop Vector Control
3: Closed Loop Vector Control
Default: 0
Min: 0
Max: 3
204
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
B.3 Parameter Table
424 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
E4: Motor 2 Parameters
These parameters are hidden when a PM motor control mode has been selected for motor 1 (A1-02 = 5, 6, 7).
E3-04
(31AH)
Motor 2 Maximum Output
Frequency
These parameters are only applicable when E1-03 is set to F.
To set linear V/f characteristics, set the same values for E3-07 and E3-09. In this case, the
setting for E3-08 will be disregarded. Ensure that the four frequencies are set according to these
rules or an oPE10 fault will occur:
E3-09 E3-07 < E3-06 311 E3-04
Note: E3-07 and E3-08 are only available in the following control modes: V/f, V/f w/PG and
OLV.
Default: <25> <44>
Min: 40.0
Max: 400.0
204
E3-05
(31BH)
Motor 2 Maximum Voltage
Default: <18>
Min: 0.0 V
Max: 255.0 V<18>
204
E3-06
(31CH)
Motor 2 Base Frequency
Default: <25> <44>
Min: 0.0
Max: E3-04
204
E3-07
(31DH)
Motor 2 Mid Output Frequency
Default: <25> <44>
Min: 0.0
Max: E3-04
204
E3-08
(31EH)
Motor 2 Mid Output Frequency
Voltage
Default: <18> <25>
Min: 0.0 V
Max: 255.0 V<18>
204
E3-09
(31FH)
Motor 2 Minimum Output
Frequency
Default: <25> <44>
Min: 0.0
Max: E3-04
204
E3-10
(320H)
Motor 2 Minimum Output
Frequency Voltage
Default: <18> <25>
Min: 0.0 V
Max: 255.0 V<18>
204
E3-11
(345H)
Motor 2 Mid Output Frequency 2
Default: 0.0 <24>
Min: 0.0
Max: E3-04 <26>
204
E3-12
(346H)
<24>
Motor 2 Mid Output Frequency
Voltage 2
Default: 0.0 V<18>
Min: 0.0 V
Max: 255.0 V<18>
204
E3-13
(347H)
Motor 2 Base Voltage
Default: 0.0 V
<18> <27>
Min: 0.0 V
Max: 255.0 V<18>
204
<18> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
<24> Parameter ignored when E3-11 (Motor 2 Mid Output Frequency 2) and E3-12 (Motor 2 Mid Output Frequency Voltage 2) are set to 0.
<25> Default setting depends on the control mode for motor 2 set in parameter E3-01. The value shown here is for V/f Control.
<26> The setting range is 0.0 to 66.0 in AOLV/PM.
<27> When Auto-Tuning is performed, E1-13 and E1-05 will be set to the same value.
<44> The default value shown here is for the following localized drives: Japan (Model code: CIMR-AAA), Asia (Model code: CIMR-ATA).
For default value of China localized drive (Model code: CIMR-ABA), refer to Default Values of the China Localized Drive: CIMR-ABA
on page 465.
No.(Addr.) Name Description Setting Page
E4-01
(321H)
Motor 2 Rated Current
Sets the full load current for motor 2. Automatically set during Auto-Tuning.
Default: <9>
Min: 10% of drive rated
current
Max: 200% of drive
rated current <19>
205
E4-02
(322H)
Motor 2 Rated Slip
Sets the rated slip for motor 2. Automatically set during Auto-Tuning.
Default: <9>
Min: 0.00 Hz
Max: 20.00 Hz <19>
205
E4-03
(323H)
Motor 2 Rated No-Load Current
Sets the no-load current for motor 2. Automatically set during Auto-Tuning.
Default: <9>
Min: 0 A
Max: E4-01 <19>
205
E4-04
(324H)
Motor 2 Motor Poles
Sets the number of poles of motor 2. Automatically set during Auto-Tuning.
Default: 4
Min: 2
Max: 48
205
E4-05
(325H)
Motor 2 Line-to-Line Resistance
Sets the phase-to-phase resistance for motor 2. Automatically set during Auto-Tuning.
Default: <9>
Min: 0.000
Max: 65.000
206
E4-06
(326H)
Motor 2 Leakage Inductance
Sets the voltage drop for motor 2 due to motor leakage inductance as a percentage of rated
voltage. Automatically set during Auto-Tuning.
Default: <9>
Min: 0.0%
Max: 40.0%
206
E4-07
(343H)
Motor 2 Motor Iron-Core
Saturation Coefficient 1
Set to the motor iron saturation coefficient at 50% of magnetic flux for motor 2. Automatically
set during Auto-Tuning.
Default: 0.50
Min: 0.00
Max: 0.50
206
No.(Addr.) Name Description Setting Page
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
Output Voltage (V)
Frequency (Hz)
E3-05
E3-12
E3-13
E3-08
E3-10
E3-09 E3-07 E3-06 E3-11 E3-04
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
B.3 Parameter Table
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 425
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E5: PM Motor Settings
E4-08
(344H)
Motor 2 Motor Iron-Core
Saturation Coefficient 2
Set to the motor iron saturation coefficient at 75% of magnetic flux for motor 2. This value is
automatically set during Auto-Tuning.
Default: 0.75
Min: E4-07
Max: 0.75
206
E4-09
(33FH)
Motor 2 Mechanical Loss
Sets the motor mechanical loss for motor 2 as a percentage of motor rated power (kW).
Default: 0.0%
Min: 0.0%
Max: 10.0%
206
E4-10
(340H)
Motor 2 Iron Loss
Sets the motor iron loss.
Default: <9>
Min: 0 W
Max: 65535 W
206
E4-11
(327H)
Motor 2 Rated Power
Sets the motor rated capacity in kW. Automatically set during Auto-Tuning.
Default: <9>
Min: 0.00 kW
Max: 650.00 kW
206
<9> Default setting value is dependent on the drive model (o2-04) and the Drive Duty (C6-01).
<19> This value's number of decimal places depends on the drive model and the Heavy/Normal duty selection in parameter C6-01. The value will
have two decimal places (0.01 A) if the drive is set for a Maximum Applicable Motor Capacity up to 11 kW (refer to Table A.2 and Table A.3)
and one decimal place (0.1 A) if the set Maximum Applicable Motor Capacity is higher than 11 kW.
No.(Addr.) Name Description Setting Page
E5-01
(329H)
<3>
Motor Code Selection
Enter the Yaskawa motor code for the PM motor being used. Various motor parameters are
automatically set based on the value of this parameter. Setting that were changed manually will
be overwritten by the defaults of the selected motor code.
Note: Set to FFFF when using a non-Yaskawa PM motor.
Default: <4> <23>
Min: 0000
Max: FFFF <28>
207
E5-02
(32AH)
<3>
Motor Rated Power
Sets the rated capacity of the motor.
Default: <14>
Min: 0.10 kW
Max: 650.00 kW
207
E5-03
(32BH)
<3>
Motor Rated Current
Sets the motor rated current.
Default: <14>
Min: 10% of drive rated
current
Max: 200% of drive
rated current <19>
207
E5-04
(32CH)
<3>
Number of Motor Poles
Sets the number of motor poles.
Default: <14>
Min: 2
Max: 48
208
E5-05
(32DH)
<3>
Motor Stator Resistance
Set the resistance for each motor phase.
Default: <14>
Min: 0.000
Max: 65.000
208
E5-06
(32EH)
<3>
Motor d-Axis Inductance
Sets the d-axis inductance for the PM motor.
Default: <14>
Min: 0.00 mH
Max: 300.00 mH
208
E5-07
(32FH)
<3>
Motor q-Axis Inductance
Sets the q-axis inductance for the PM motor.
Default: <14>
Min: 0.00 mH
Max: 600.00 mH
208
E5-09
(331H)
<3>
Motor Induction Voltage Constant
1
Set the induced phase peak voltage in units of 0.1 mV (rad/s) [electrical angle]. Set this
parameter when using a Yaskawa SSR1 Series PM motor with derated torque, or a Yaskawa
SST4 Series motor with constant torque.
When setting this parameter, E5-24 should be set to 0.
Default: <14>
Min: 0.0 mV/(rad/s)
Max:
2000.0 mV/(rad/s)
208
E5-11
(333H)
Encoder Z-pulse Offset
Sets the offset between the rotor magnetic axis and the Z pulse of an incremental encoder. Set
during Z Pulse Offset Tuning.
Default: 0.0 deg
Min: -180 deg
Max: 180 deg
208
E5-24
(353H)
<3>
Motor Induction Voltage Constant
2
Set the induced phase-to-phase rms voltage in units of 0.1 mV/(r/min) [mechanical angle]. Set
this parameter when using a Yaskawa SMRA Series SPM motor.
When setting this parameter, E5-09 should be set to 0.
Default: <14>
Min: 0.0 mV/(r/min)
Max: 2000.0 mV/(r/
min)
208
No.(Addr.) Name Description Setting Page
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
B.3 Parameter Table
426 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
F: Options
F parameters are used to program the drive for PG feedback from the motor and to function with option cards.
F1: PG Speed Control Card (PG-B3 / PG-X3)
Parameters F1-01, F1-05, F1-06, F1-12, F1-13, and F1-18 through F1-21 are used to set up a PG option card plugged into
option connector CN5-C of the drive. They include PG 1 in the parameter name.
Parameters F1-21 through F1-37 are used to set up a PG option card plugged into option connector CN5-B of the drive.
They include PG 2 in the parameter name.
Other parameters in the F1 group are used to set operation for PG options plugged into connector CN5-C and CN5-B.
<3> Parameter setting value is not reset to the default value when the drive is initialized.
<4> Default setting is dependent on the control mode (A1-02), the drive model (o2-04), and the Drive Duty (C6-01).
<14> Default setting value is dependent on the motor code set to E5-01.
<19> This value's number of decimal places depends on the drive model and the Heavy/Normal duty selection in parameter C6-01. The value will
have two decimal places (0.01 A) if the drive is set for a Maximum Applicable Motor Capacity up to 11 kW (refer to Table A.2 and Table A.3)
and one decimal place (0.1 A) if the set Maximum Applicable Motor Capacity is higher than 11 kW.
<23> If using a Yaskawa SMRA Series SPM Motor, the default setting is 1800 r/min.
<28> Selection may vary depending on the motor code entered to E5-01.
No.(Addr.) Name Description Setting Page
F1-01
(380H)
PG 1 Pulses Per Revolution
Sets the number of PG (pulse generator or encoder) pulses.
Sets the number of pulses per motor revolution.
Default: <10>
Min: 0 ppr
Max: 60000 ppr
209
F1-02
(381H)
Operation Selection at PG Open
Circuit (PGo)
0: Ramp to stop. Decelerate to stop using the deceleration time in C1-02.
1: Coast to stop.
2: Fast Stop. Decelerate to stop using the deceleration time in C1-09.
3: Alarm only.
4: No alarm display.
Note: Due to potential damage to motor and machinery, the "Alarm only" and "No alarm
display" setting should be used only under special circumstances.
Default: 1
Min: 0
Max: 4
209
F1-03
(382H)
Operation Selection at Overspeed
(oS)
0: Ramp to stop. Decelerate to stop using the deceleration time in C1-02.
1: Coast to stop.
2: Fast Stop. Decelerate to stop using the deceleration time in C1-09.
3: Alarm only.
Default: 1
Min: 0
Max: 3
209
F1-04
(383H)
Operation Selection at Deviation
0: Ramp to stop. Decelerate to stop using the deceleration time in C1-02.
1: Coast to stop.
2: Fast Stop. Decelerate to stop using the deceleration time in C1-09.
3: Alarm only.
Default: 3
Min: 0
Max: 3
210
F1-05
(384H)
PG 1 Rotation Selection
0: Pulse A leads
1: Pulse B leads
Default: <10>
Min: 0
Max: 1
210
F1-06
(385H)
PG 1 Division Rate for PG Pulse
Monitor
Sets the division ratio for the pulse monitor used of the PG option card installed to connector
CN5-C. By setting xyz, the division ratio becomes = [(1 + x) / yz]. If only using the A pulse
for one track input, then the input ratio will be 1:1, regardless of what F1-06 is set to.
Default: 1
Min: 1
Max: 132
210
F1-08
(387H)
Overspeed Detection Level
Sets the overspeed detection level as a percentage of the maximum output frequency.
Default: 115%
Min: 0%
Max: 120%
209
F1-09
(388H)
Overspeed Detection Delay Time
Sets the time in seconds for an overspeed situation to trigger a fault (oS).
Default: <10>
Min: 0.0 s
Max: 2.0 s
209
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
B.3 Parameter Table
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 427
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F1-10
(389H)
Excessive Speed Deviation
Detection Level
Sets the speed deviation detection level as a percentage of the maximum output frequency.
Default: 10%
Min: 0%
Max: 50%
210
F1-11
(38AH)
Excessive Speed Deviation
Detection Delay Time
Sets the time in seconds for a speed deviation situation to trigger a fault (dEv).
Default: 0.5 s
Min: 0.0 s
Max: 10.0 s
210
F1-12
(38BH)
PG 1 Gear Teeth 1
Sets the gear ratio between the motor shaft and the encoder (PG).
A gear ratio of 1 will be used if either of these parameters is set to 0.
Default: 0
Min: 0
Max: 1000
210
F1-13
(38CH)
PG 1 Gear Teeth 2
Default: 0
Min: 0
Max: 1000
210
F1-14
(38DH)
PG Open-Circuit Detection Time
Sets the time required to trigger a PG Open fault (PGo).
Default: 2.0 s
Min: 0.0 s
Max: 10.0 s
209
F1-18
(3ADH)
dv3 Detection Selection
0: Disabled
1: Enabled
Default: 10
Min: 0
Max: 10
211
F1-19
(3AEH)
dv4 Detection Selection
0: Disabled
n: Number of pulses that the A and B pulse are reversed that triggers dv4 detection.
Default: 128
Min: 0
Max: 5000
211
F1-20
(3B4H)
PG Option Card Disconnect
Detection 1
0: Disabled
1: Enabled
Default: 1
Min: 0
Max: 1
211
F1-21
(3BCH)
PG 1 Signal Selection
0: A pulse detection
1: AB pulse detection
Default: 0
Min: 0
Max: 1
211
F1-30
(3AAH)
PG Card Option Port for Motor 2
Selection
Sets the port for the PG option card used by motor 2.
0: CN5-C
1: CN5-B
Default: 1
Min: 0
Max: 1
211
F1-31
(3B0H)
PG 2 Pulses Per Revolution
Sets the number of pulses for a PG option card connected to port CN5-B.
Default: <45>
Min: 0 ppr
Max: 60000 ppr
209
F1-32
(3B1H)
PG 2 Rotation Selection
0: Pulse A leads
1: Pulse B leads
Default: 0
Min: 0
Max: 1
210
F1-33
(3B2H)
PG 2 Gear Teeth 1
Sets the gear ratio between the motor shaft and the encoder (PG).
A gear ratio of 1 will be used if either of these parameters is set to 0.
Default: 0
Min: 0
Max: 1000
210
F1-34
(3B3H)
PG 2 Gear Teeth 2
Default: 0
Min: 0
Max: 1000
210
F1-35
(3BEH)
PG 2 Division Rate for Pulse
Monitor
Sets the division ratio for the pulse monitor used of the PG option card 2 installed to connector
CN5-B. By setting xyz, the division ratio becomes = [(1 + x) / yz].
Default: 1
Min: 1
Max: 132
210
F1-36
(3B5H)
PG Option Card Disconnect
Detection 2
0: Disabled
1: Enabled
Default: 1
Min: 0
Max: 1
211
F1-37
(3BDH)
PG 2 Signal Selection
0: A pulse detection
1: AB pulse detection
Default: 0
Min: 0
Max: 1
211
<10> Default setting is determined by the control mode (A1-02).
No.(Addr.) Name Description Setting Page
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
B.3 Parameter Table
428 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
F2: Analog Input Card (AI-A3)
F3: Digital Input Card (DI-A3)
F4: Analog Monitor Card (AO-A3)
<45> Regional default settings
Setting 600 ppr: Japan (Model code: CIMR-AAA) and Asia (Model code: CIMR-ATA)
Setting 1024 ppr: China (Model code: CIMR-ABA)
No.(Addr.) Name Description Setting Page
F2-01
(38FH)
Analog Input Option Card
Operation Selection
0: Option card input terminals V1, V2, and V3 replace drive input terminals A1, A2, and A3.
1: Input signals to terminals V1, V2, and V3 are added together to create the frequency
reference.
Default: 0
Min: 0
Max: 1
212
F2-02
(368H)
Analog Input Option Card Gain
Sets the gain for the input signal to the analog card.
Default: 100.0%
Min: -999.9%
Max: 999.9%
212
F2-03
(369H)
Analog Input Option Card Bias
Sets the bias for the input signal to the analog card.
Default: 0.0%
Min: -999.9%
Max: 999.9%
212
No.(Addr.) Name Description Setting Page
F3-01
(390H)
Digital Input Option Card Input
Selection
0: BCD, 1% units
1: BCD, 0.1% units
2: BCD, 0.01% units
3: BCD, 1 Hz units
4: BCD, 0.1 Hz units
5: BCD, 0.01 Hz units
6: BCD customized setting (5 digit), 0.02 Hz units
7: Binary input
When the digital operator units are set to be displayed in Hertz or user-set units (o1-03 = 2 or 3),
the units for F3-01 are determined by parameter o1-03.
Default: 0
Min: 0
Max: 7
212
F3-03
(3B9H)
Digital Input Option DI-A3 Data
Length Selection
0: 8 bit
1: 12 bit
2: 16 bit
Default: 2
Min: 0
Max: 2
213
No.(Addr.) Name Description Setting Page
F4-01
(391H)
Terminal V1 Monitor Selection
Sets the monitor signal for output from terminal V1. Set this parameter to the last three digits of
the desired U- monitor. Some U parameters are available only in certain control modes.
Default: 102
Min: 000
Max: 999
213
F4-02
(392H)
Terminal V1 Monitor Gain
Sets the gain for voltage output via terminal V1.
Default: 100.0%
Min: -999.9%
Max: 999.9%
213
F4-03
(393H)
Terminal V2 Monitor Selection
Sets the monitor signal for output from terminal V2. Set this parameter to the last three digits of
the desired U- monitor. Some U parameters are available only in certain control modes.
Default: 103
Min: 000
Max: 999
213
F4-04
(394H)
Terminal V2 Monitor Gain
Sets the gain for voltage output via terminal V2.
Default: 50.0%
Min: -999.9%
Max: 999.9%
213
F4-05
(395H)
Terminal V1 Monitor Bias
Sets the amount of bias added to the voltage output via terminal V1.
Default: 0.0%
Min: -999.9%
Max: 999.9%
213
F4-06
(396H)
Terminal V2 Monitor Bias
Sets the amount of bias added to the voltage output via terminal V2.
Default: 0.0%
Min: -999.9%
Max: 999.9%
213
F4-07
(397H)
Terminal V1 Signal Level
0: 0 to 10 V
1: -10 to 10 V
Default: 0
Min: 0
Max: 1
213
F4-08
(398H)
Terminal V2 Signal Level
Default: 0
Min: 0
Max: 1
213
All Modes
common_
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All Modes
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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B.3 Parameter Table
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 429
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F5: Digital Output Card (DO-A3)
F6: Communication Option Card
F6-01 through F6-03 and F6-06 through F6-08 are common settings used for CC-Link, CANopen, DeviceNet,
PROFIBUS-DP, and MECHATROLINK-II option cards. Other parameters in the F6 group are used for communication
protocol specific settings.
For more details on a specific option card, refer to the instruction manual for the option card.
No.(Addr.) Name Description Setting Page
F5-01
(399H)
Terminal P1-PC Output Selection
Sets the function for contact output terminals M1-M2, M3-M4, and photocoupler output
terminals P1 through P6.
Default: 2
Min: 0
Max: 192
214
F5-02
(39AH)
Terminal P2-PC Output Selection
Default: 4
Min: 0
Max: 192
214
F5-03
(39BH)
Terminal P3-PC Output Selection
Default: 6
Min: 0
Max: 192
214
F5-04
(39CH)
Terminal P4-PC Output Selection
Default: 37
Min: 0
Max: 192
214
F5-05
(39DH)
Terminal P5-PC Output Selection
Default: F
Min: 0
Max: 192
214
F5-06
(39EH)
Terminal P6-PC Output Selection
Default: F
Min: 0
Max: 192
214
F5-07
(39FH)
Terminal M1-M2 Output Selection
Default: 0
Min: 0
Max: 192
214
F5-08
(3A0H)
Terminal M3-M4 Output Selection
Default: 1
Min: 0
Max: 192
214
F5-09
(3A1H)
DO-A3 Output Mode Selection 0: Output terminals are each assigned separate output functions.
1: Binary code output
2: Use output terminal functions selected by parameters F5-01 through F5-08.
Default: 0
Min: 0
Max: 2
214
No.(Addr.) Name Description Setting Page
F6-01
(3A2H)
Communications Error Operation
Selection
0: Ramp to stop. Decelerate to stop using the deceleration time in C1-02.
1: Coast to stop.
2: Fast Stop. Decelerate to stop using the deceleration time in C1-09.
3: Alarm only.
Default: 1
Min: 0
Max: 3
214
F6-02
(3A3H)
External Fault from Comm. Option
Detection Selection 0: Always detected
1: Detection during run only
Default: 0
Min: 0
Max: 1
215
F6-03
(3A4H)
External Fault from Comm. Option
Operation Selection
0: Ramp to stop. Decelerate to stop using the deceleration time in C1-02.
1: Coast to stop.
2: Fast Stop. Decelerate to stop using the deceleration time in C1-09.
3: Alarm only.
Default: 1
Min: 0
Max: 3
215
F6-04
(3A5H)
bUS Error Detection Time
Set the delay time for error detection if a bus error occurs.
Default: 2.0 s
Min: 0.0 s
Max: 5.0 s
F6-06
(3A7H)
Torque Reference/Torque Limit
Selection from Comm. Option
0: Disabled.Torque reference/limit from option board disabled.
1: Enabled. Torque reference/limit from option board enabled.
Default: 0
Min: 0
Max: 1
215
F6-07
(3A8H)
Multi-Step Speed Enable/Disable
Selection when NefRef/ComRef is
Selected
0: Multi-step reference disabled (same as F7)
1: Multi-step reference enabled (same as V7)
Default: 0
Min: 0
Max: 1
215
F6-08
(36AH)
<3>
Reset Communication Parameters
0: Communication-related parameters (F6-) are not reset when the drive is initialized using
A1-03.
1: Reset all communication-related parameters (F6-) when the drive is initialized using
A1-03.
Default: 0
Min: 0
Max: 1
215
F6-10
(3B6H)
CC-Link Node Address
Sets the node address if a CC-Link option card is installed.
Default: 0
Min: 0
Max: 64
All Modes
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All Modes
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
All Modes
common_
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All Modes
common_
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All Modes
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B.3 Parameter Table
430 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
F6-11
(3B7H)
CC-Link Communication Speed
0: 156 Kbps
1: 625 Kbps
2: 2.5 Mbps
3: 5 Mbps
4: 10 Mbps
Default: 0
Min: 0
Max: 4
F6-14
(3BBH)
CC-Link bUS Error Auto Reset
0: Disabled
1: Enabled
Default: 0
Min: 0
Max: 1
F6-20
(36BH)
MECHATROLINK Station
Address
Sets the station address when the MECHATROLINK-II option has been installed.
Default: 21
Min: 20
Max: 3FH
F6-21
(36CH)
MECHATROLINK Frame Size
0: 32 byte
1: 17 byte
Default: 0
Min: 0
Max: 1
F6-22
(36DH)
MECHATROLINK Link Speed
0: 10 Mbps
1: 4 Mbps
Default: 0
Min: 0
Max: 1
F6-23
(36EH)
MECHATROLINK Monitor
Selection (E)
Sets the MECHATROLINK-II monitor (E).
Default: 0
Min: 0
Max: FFFFH
F6-24
(36FH)
MECHATROLINK Monitor
Selection (F)
Sets the MECHATROLINK-II monitor (F).
Default: 0
Min: 0
Max: FFFFH
F6-25
(3C9H)
Operation Selection at Watchdog
Timer Error (E5)
0: Ramp to stop. Decelerate to stop using the deceleration time in C1-02.
1: Coast to stop.
2: Fast Stop. Decelerate to stop using the deceleration time in C1-09.
3: Alarm only.
Default: 1
Min: 0
Max: 3
F6-26
(3CAH)
MECHATROLINK bUS Errors
Detected
Sets the number of option communication errors (bUS).
Default: 2
Min: 2
Max: 10
F6-30
(3CBH)
PROFIBUS-DP Node Address
Sets the node address.
Default: 0
Min: 0
Max: 125
F6-31
(3CCH)
PROFIBUS-DP Clear Mode
Selection 0: Resets drive operation with a Clear mode command.
1: Maintains the previous operation state when Clear mode command is given.
Default: 0
Min: 0
Max: 1
F6-32
(3CDH)
PROFIBUS-DP Data Format
Selection 0: PPO Type
1: Conventional
Default: 0
Min: 0
Max: 1
F6-35
(3D0H)
CANopen Node ID Selection
Sets the node address.
Default: 0
Min: 0
Max: 126
F6-36
(3D1H)
CANopen Communication Speed
0: Auto-detection
1: 10 kbps
2: 20 kbps
3: 50 kbps
4: 125 kbps
5: 250 kbps
6: 500 kbps
7: 800 kbps
8: 1 Mbps
Default: 6
Min: 0
Max: 8
F6-50
(3C1H)
DeviceNet MAC Address
Selects the drives MAC address.
Default: 0
Min: 0
Max: 64
F6-51
(3C2H)
DeviceNet Communication Speed
0: 125 kbps
1: 250 kbps
2: 500 kbps
3: Adjustable from network
4: Detect automatically
Default: 0
Min: 0
Max: 4
F6-52
(3C3H)
DeviceNet PCA Setting
Sets the format of the data set from the DeviceNet master to the drive.
Default: 21
Min: 0
Max: 255
F6-53
(3C4H)
DeviceNet PPA Setting
Sets the format of the data set from the drive to the DeviceNet master.
Default: 71
Min: 0
Max: 255
F6-54
(3C5H)
DeviceNet Idle Mode Fault
Detection 0: Enabled
1: Disabled, no fault detection
Default: 0
Min: 0
Max: 1
F6-56
(3D7H)
DeviceNet Speed Scaling
Sets the scaling factor for the speed monitor in DeviceNet.
Default: 0
Min: -15
Max: 15
F6-57
(3D8H)
DeviceNet Current Scaling
Sets the scaling factor for the output current monitor in DeviceNet.
Default: 0
Min: -15
Max: 15
F6-58
(3D9H)
DeviceNet Torque Scaling
Sets the scaling factor for the torque monitor in DeviceNet.
Default: 0
Min: -15
Max: 15
F6-59
(3DAH)
DeviceNet Power Scaling
Sets the scaling factor for the power monitor in DeviceNet.
Default: 0
Min: -15
Max: 15
F6-60
(3DBH)
DeviceNet Voltage Scaling
Sets the scaling factor for the voltage monitor in DeviceNet.
Default: 0
Min: -15
Max: 15
F6-61
(3DCH)
DeviceNet Time Scaling
Sets the scaling factor for the time monitor in DeviceNet.
Default: 0
Min: -15
Max: 15
F6-62
(3DDH)
DeviceNet Heartbeat Interval
Sets the heartbeat interval for DeviceNet communications.
Default: 0
Min: 0
Max: 10
F6-63
(3DEH)
DeviceNet Network MAC ID
Used to verify the MAC ID the drive has been assigned.
Default: 0
Min: 0
Max: 63
F6-64 to
F6-71
(3DFH to
3C8H)
Reserved
Reserved for Dynamic I/O Assembly Parameters.
<3> Parameter setting value is not reset to the default value when the drive is initialized.
No.(Addr.) Name Description Setting Page
H1-01
(438H)
<31> Value in parenthesis is the default setting when a 3-wire initialization is performed (A1-03 = 3330).
Multi-Function Digital Input
Terminal S1 Function Selection
Assigns a function to the multi-function digital inputs.
Refer to H1 Multi-Function Digital Input Selections on page 432 for a description of setting
values.
Note: Unused terminals should be set to F.
Default: 40 (F) <31>
Min: 1
Max: 9F
217
H1-02
(439H)
Multi-Function Digital Input
Terminal S2 Function Selection
Default: 41 (F) <31>
Min: 1
Max: 9F
217
H1-03
(400H)
Multi-Function Digital Input
Terminal S3 Function Selection
Default: 24
Min: 0
Max: 9F
217
H1-04
(401H)
Multi-Function Digital Input
Terminal S4 Function Selection
Default: 14
Min: 0
Max: 9F
217
H1-05
(402H)
Multi-Function Digital Input
Terminal S5 Function Selection
Default: 3(0) <31>
Min: 0
Max: 9F
217
H1-06
(403H)
Multi-Function Digital Input
Terminal S6 Function Selection
Default: 4(3) <31>
Min: 0
Max: 9F
217
H1-07
(404H)
Multi-Function Digital Input
Terminal S7 Function Selection
Default: 6(4) <31>
Min: 0
Max: 9F
217
H1-08
(405H)
Multi-Function Digital Input
Terminal S8 Function Selection
Default: 8
Min: 0
Max: 9F
217
No.(Addr.) Name Description Setting Page
All Modes
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All Modes
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All Modes
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All Modes
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All Modes
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All Modes
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
B.3 Parameter Table
432 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
H1 Multi-Function Digital Input Selections
H1-
Setting
Function Description Page
0 3-wire Sequence
Closed: Reverse rotation (only if the drive is set up for 3-wire sequence)
Terminals S1 and S2 are automatically set up for the Run command and Stop command.
218
1 LOCAL/REMOTE Selection Open: REMOTE (parameter settings determine the source of the frequency Reference 1 or 2 (b1-01, b1-02 or b1-
15, b1-16)
Closed: LOCAL, digital operator is run and reference source
218
2 External Reference 1/2 Selection
Open: Run command and frequency reference source 1 (determined by b1-01 and b1-02)
Closed: Run command and frequency reference source 2 (determined by b1-15 and b1-16)
219
3 Multi-Step Speed Reference 1
When input terminals are set to Multi-Step Speed References 1 through 3, switching combinations of those
terminals will create a multi-step speed sequence using the frequency references set in d1-01 through d1-08.
219
4 Multi-Step Speed Reference 2 219
5 Multi-Step Speed Reference 3 219
6 Jog Reference Selection
Closed: Jog frequency reference (d1-17) selected. Jog has priority over all other reference sources.
219
7 Accel/Decel Time Selection 1
Used to switch between accel/decel time 1 (set in C1-01, C1-02) and accel/decel time 2 (set in C1-03, C1-04).
219
8 Baseblock Command (N.O.)
Closed: No drive output
219
9 Baseblock Command (N.C.)
Open: No drive output
219
A Accel/Decel Ramp Hold
Open: Accel/decel is not held
Closed: The drive pauses during acceleration or deceleration and maintains the output frequency.
219
B Drive Overheat Alarm (oH2)
Closed: Closes when an oH2 alarm occurs
220
C Analog Terminal Input Selection
Open: Function assigned by H3-14 is disabled.
Closed: Function assigned by H3-14 is enabled.
220
D PG Encoder Disable
Open: Speed feedback for V/f Control with PG is enabled.
Closed: Speed feedback disabled.
220
E ASR Integral Reset
Open: PI control
Closed: Integral reset
220
F Through Mode
Select this setting when using the terminal in a pass-through mode. The terminal does not trigger a drive function
but can be used as digital input for the controller the drive is connected to.
220
10 Up Command
The drive accelerates when the Up command terminal closes, and decelerates when the Down command closes.
When both terminals are closed or both are open, the drive holds the frequency reference. The Up and Down
commands must always be used in conjunction with one another.
220
11 Down Command 220
12 Forward Jog
Closed: Runs forward at the Jog frequency d1-17.
221
13 Reverse Jog
Closed: Runs reverse at the Jog frequency d1-17.
221
14 Fault Reset
Closed: Resets faults if the cause is cleared and the Run command is removed.
221
15 Fast Stop (N.O.)
Closed: Decelerates at the Fast Stop time set to C1-09.
221
All Modes
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All Modes
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All Modes
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All Modes
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All Modes
common_
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All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
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B.3 Parameter Table
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 433
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16 Motor 2 Selection
Open: Motor 1 (E1-, E2-)
Closed: Motor 2 (E3-, E4-)
222
17 Fast Stop (N.C.)
Open: Decelerates to stop at the Fast Stop time set to C1-09.
221
18 Timer Function Input
Triggers the timer set up by parameters b4-01 and b4-02. Must be set in conjunction with the timer function output
(H2- = 12).
222
19 PID Disable
Open: PID control enabled
Closed: PID control disabled
223
1A Accel/Decel Time Selection 2
Used in conjunction with an input terminal set for Accel/decel time selection 1 (H1- = 7), and allows the
drive to switch between accel/decel times 3 and 4.
223
1B Program Lockout
Open: Parameters cannot be edited (except for U1-01 if the reference source is assigned to the digital operator).
Closed: Parameters can be edited and saved.
223
1E Reference Sample Hold
Closed: Samples the analog frequency reference and operates the drive at that speed.
223
20 to 2F External Fault
20: N.O., Always detected, ramp to stop
21: N.C., Always detected, ramp to stop
22: N.O., During run, ramp to stop
23: N.C., During run, ramp to stop
24: N.O., Always detected, coast to stop
25: N.C., Always detected, coast to stop
26: N.O., During run, coast to stop
27: N.C., During run, coast to stop
28: N.O., Always detected, Fast Stop
29: N.C., Always detected, Fast Stop
2A: N.O., During run, Fast Stop
2B: N.C., During run, Fast Stop
2C: N.O., Always detected, alarm only (continue running)
2D: N.C., Always detected, alarm only (continue running)
2E: N.O., During run, alarm only (continue running)
2F: N.C., During run, alarm only (continue running)
223
30 PID Integral Reset
Closed: Resets the PID control integral value.
224
31 PID Integral Hold
Open: Performs integral operation.
Closed: Maintains the current PID control integral value.
224
32 Multi-Step Speed Reference 4
Used in combination with input terminals set to Multi-Step Speed Reference 1, 2, and 3. Use parameters d1-09 to
d1-16 to set reference values.
224
34 PID Soft Starter Cancel
Open: PID soft starter is enabled.
Closed: Disables the PID soft starter b5-17.
224
35 PID Input Level Selection
Closed: Inverts the PID input signal
224
40
Forward Run Command (2-wire
Sequence)
Open: Stop
Closed: Forward run
Note: Cannot be set together with settings 42 or 43.
224
41
Reverse Run Command (2-wire
Sequence)
Open: Stop
Closed: Reverse run
Note: Cannot be set together with settings 42 or 43.
224
42 Run Command (2-wire Sequence 2) Open: Stop
Closed: Run
Note: Cannot be set together with settings 40 or 41.
224
H1 Multi-Function Digital Input Selections
H1-
Setting
Function Description Page
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
All Modes
common_
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All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
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B.3 Parameter Table
434 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
43
FWD/REV Command (2-wire Sequence
2)
Open: Forward
Closed: Reverse
Note: Determines motor direction, but does not issue a Run command. Cannot be set together with settings 40 or
41.
224
44 Offset Frequency 1
Closed: Adds d7-01 to the frequency reference.
225
45 Offset Frequency 2
Closed: Adds d7-02 to the frequency reference.
225
46 Offset Frequency 3
Closed: Adds d7-03 to the frequency reference.
225
47 Node Setup
Closed: Node setup for SI-S3 enabled.
225
60 DC Injection Braking Command
Closed: Triggers DC Injection Braking.
225
61 External Speed Search Command 1
Closed: Activates Current Detection Speed Search from the maximum output frequency (E1-04).
225
62 External Speed Search Command 2
Closed: Activates Current Detection Speed Search from the frequency reference.
225
63 Field Weakening
Closed: The drive performs Field Weakening control as set for d6-01 and d6-02.
225
65 KEB Ride-Thru 1 (N.C.)
Open: KEB Ride-Thru 1 enabled
225
66 KEB Ride-Thru 1 (N.O.)
Closed: KEB Ride-Thru 1 enabled
225
67 Communications Test Mode
Tests the MEMOBUS/Modbus RS-485/422 interface. Displays PASS if the test completes successfully.
225
68 High Slip Braking
Closed: Activates High Slip Braking to stop the drive.
225
6A Drive Enable
Open: Drive disabled. If this input is opened during run, then the drive will stop as specified by b1-03.
Closed: Ready for operation.
226
71 Speed/Torque Control Switch
Open: Speed Control
Closed: Torque Control
226
72 Zero Servo
Closed: Zero Servo enabled
226
75 Up 2 Command
Used to control the bias added to the frequency reference by the Up/Down 2 function. The Up 2 and Down 2
commands must always be used in conjunction with one another.
226
76 Down 2 Command 226
77 ASR Gain Switch
Open: ASR proportional gain 1 (C5-01)
Closed: ASR proportional gain 2 (C5-03)
226
78
External Torque Reference Polarity
Inversion
Open: Forward torque reference
Closed: Reverse polarity
227
H1 Multi-Function Digital Input Selections
H1-
Setting
Function Description Page
All Modes
common_
TMonly
All Modes
common_
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All Modes
common_
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All Modes
common_
TMonly
All Modes
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
All Modes
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
All Modes
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
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B.3 Parameter Table
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 435
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H2: Multi-Function Digital Outputs
7A KEB Ride-Thru 2 (N.C.)
Open: KEB Ride-Thru 2 enabled. Drive disregards L2-29 and performs Single Drive KEB Ride-Thru 2.
227
7B KEB Ride-Thru 2 (N.O.)
Closed: KEB Ride-Thru 2 enabled. Drive disregards L2-29 and performs Single Drive KEB Ride-Thru 2.
227
7C Short Circuit Braking (N.O.)
Closed: Short Circuit Braking enabled
227
7D Short Circuit Braking (N.C.)
Open: Short Circuit Braking enabled
227
7E
Forward/Reverse Detection (V/f Control
with Simple PG feedback)
Direction of rotation detection (for V/f with Simple PG Feedback)
227
90 to 97 DriveWorksEZ Digital Inputs 1 to 8
Reserved for DWEZ input functions
227
9F DriveWorksEZ Disable
Open: DWEZ enabled
Closed: DWEZ disabled
227
No.(Addr.) Name Description Setting Page
H2-01
(40BH)
Terminal M1-M2 function
selection (relay)
Refer to H2 Multi-Function Digital Output Settings on page 435 for a description of setting
values.
Default: 0
Min: 0
Max: 192
227
H2-02
(40CH)
Terminal P1-PC function selection
(photocoupler)
Default: 1
Min: 0
Max: 192
227
H2-03
(40DH)
Terminal P2-PC function selection
(photocoupler)
Default: 2
Min: 0
Max: 192
227
H2-06
(437H)
Watt Hour Output Unit Selection
Outputs a 200 ms pulse signal when the watt-hour counter increases by the units selected.
0: 0.1 kWh units
1: 1 kWh units
2: 10 kWh units
3: 100 kWh units
4: 1000 kWh units
Default: 0
Min: 0
Max: 4
236
H2 Multi-Function Digital Output Settings
H2-
Setting
Function Description Page
0 During Run
Closed: A Run command is active or voltage is output.
228
1 Zero Speed
Open: Output frequency is above the minimum output frequency set in E1-09.
Closed: Output frequency is below the minimum output frequency set in E1-09.
228
2 Speed Agree 1
Closed: Output frequency equals the speed reference (plus or minus the hysteresis set to L4-02).
229
3 User-set Speed Agree 1
Closed: Output frequency and speed reference equal L4-01 (plus or minus the hysteresis set to L4-02).
229
4 Frequency Detection 1
Closed: Output frequency is less than or equal to the value in L4-01 with hysteresis determined by L4-02.
230
5 Frequency Detection 2
Closed: Output frequency is greater than or equal to the value in L4-01 with hysteresis determined by L4-02.
230
6 Drive Ready
Closed: Power up is complete and the drive is ready to accept a Run command.
230
7 DC bus Undervoltage
Closed: DC bus voltage is below the Uv trip level set in L2-05.
231
H1 Multi-Function Digital Input Selections
H1-
Setting
Function Description Page
All Modes
common_
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All Modes
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
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B.3 Parameter Table
436 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
8 During Baseblock (N.O.)
Closed: Drive has entered the baseblock state (no output voltage).
231
9 Frequency Reference Source
Open: External Reference 1 or 2 supplies the frequency reference (set in b1-01 or b1-15).
Closed: Digital operator supplies the frequency reference.
231
A Run Command Source
Open: External Reference 1 or 2 supplies the Run command (set in b1-02 or b1-16).
Closed: Digital operator supplies the Run command.
231
B Torque Detection 1 (N.O.)
Closed: An overtorque or undertorque situation has been detected.
231
C Frequency Reference Loss
Closed: Analog frequency reference has been lost.
231
D Braking Resistor Fault
Closed: Braking resistor or transistor is overheated or faulted out.
231
E Fault
Closed: Fault occurred.
231
F Through Mode
Set this value when using the terminal in the pass-through mode.
232
10 Minor Fault
Closed: An alarm has been triggered, or the IGBTs have reached 90% of their expected life span.
232
11 Fault Reset Command Active
Closed: A command has been entered to clear a fault via the input terminals or from the serial network.
232
12 Timer Output
Closed: Timer output.
232
13 Speed Agree 2
Closed: When drive output frequency equals the frequency reference L4-04.
232
14 User-set Speed Agree 2
Closed: When the drive output frequency is equal to the value in L4-03 L4-04.
232
15 Frequency Detection 3
Closed: When the drive output frequency is less than or equal to the value in L4-03 L4-04.
233
16 Frequency Detection 4
Closed: When the output frequency is greater than or equal to the value in L4-03 L4-04.
233
17 Torque Detection 1 (N.C.)
Open: Overtorque or undertorque has been detected.
231
18 Torque Detection 2 (N.O.)
Closed: Overtorque or undertorque has been detected.
231
19 Torque Detection 2 (N.C.)
Open: Overtorque or undertorque has been detected.
231
1A During Reverse
Closed: Drive is running in the reverse direction.
234
1B During Baseblock (N.C.)
Open: Drive has entered the baseblock state (no output voltage).
234
1C Motor 2 Selection
Closed: Motor 2 is selected by a digital input (H1- = 16)
234
1D During Regeneration
Closed: Motor is regenerating energy into the drive.
234
1E Restart Enabled
Closed: An automatic restart is performed
234
1F Motor Overload Alarm (oL1)
Closed: oL1 is at 90% of its trip point or greater. An oH3 situation also triggers this alarm.
234
H2 Multi-Function Digital Output Settings
H2-
Setting
Function Description Page
All Modes
common_
TMonly
All Modes
common_
TMonly
common_
TMonly
All Modes
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
common_
TMonly
All Modes
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
All Modes
common_
TMonly
common_
TMonly
All Modes
B.3 Parameter Table
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 437
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20 Drive Overheat Pre-alarm (oH)
Closed: Heatsink temperature exceeds the parameter L8-02 value.
234
22 Mechanical Weakening Detection
Closed: Mechanical weakening detected.
234
2F Maintenance Period
Closed: Cooling fan, electrolytic capacitors, IGBTs, or the soft charge bypass relay may require maintenance.
235
30 During Torque Limit
Closed: When the torque limit has been reached.
235
31 During Speed Limit
Closed: Speed limit has been reached.
235
32
During Speed Limit in Torque
Control
Closed: Speed limit has been reached while using Torque Control.
235
33 Zero Servo Complete
Closed: Zero Servo operation has finished.
235
37 During Frequency Output
Open: Either the drive has stopped or baseblock, DC Injection Braking, or Initial Excitation is being performed.
Closed: Drive is running the motor (not in a baseblock state and DC Injection is not being performed).
235
38 Drive Enabled
Closed: Multi-function input set for Drive enable is closed (H1- = 6A)
235
39 Watt Hour Pulse Output
Output units are determined by H2-06. Outputs a pulse every 200 ms to indicate the kWh count.
235
3C LOCAL/REMOTE Status
Open: REMOTE
Closed: LOCAL
235
3D During Speed Search
Closed: Speed Search is being executed.
236
3E PID Feedback Low
Closed: PID feedback level is too low.
236
3F PID Feedback High
Closed: The PID feedback level is too high.
236
4A During KEB Ride-Thru
Closed: KEB Ride-Thru is being performed.
236
4B During Short-Circuit Braking
Closed: Short Circuit Braking is active.
236
4C During Fast Stop
Closed: A Fast Stop command has been entered from the operator or input terminals.
236
4D oH Pre-alarm Time Limit
Closed: oH pre-alarm time limit has passed.
236
4E Braking Transistor Fault (rr)
Closed: The built-in dynamic braking transistor failed.
236
4F Braking Resistor Overheat (oH)
Closed: The dynamic braking resistor has overheated.
236
60 Internal Cooling Fan Alarm
Closed: Internal cooling fan alarm
236
61 Rotor Position Detection Complete
Closed: Drive has successfully detected the rotor position of the PM motor.
236
H2 Multi-Function Digital Output Settings
H2-
Setting
Function Description Page
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
B.3 Parameter Table
438 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
H3: Multi-Function Analog Inputs
90 to 92 DriveWorksEZ Digital Outputs 1 to 3
Reserved for DWEZ digital output functions.
236
100 to 192 Function 0 to 92 with Inverse Output
Inverts the output switching of the multi-function output functions.
Set the last two digits of 1 to reverse the output signal of that specific function.
236
No.(Addr.) Name Description Setting Page
H3-01
(410H)
Terminal A1 Signal Level
Selection 0: 0 to 10 V
1: 10 to 10 V
Default: 0
Min: 0
Max: 1
237
H3-02
(434H)
Terminal A1 Function Selection
Sets the function of terminal A1.
Default: 0
Min: 0
Max: 31
237
H3-03
(411H)
Terminal A1 Gain Setting
Sets the level of the input value selected in H3-02 when 10 V is input at terminal A1.
Default: 100.0%
Min: -999.9%
Max: 999.9%
237
H3-04
(412H)
Terminal A1 Bias Setting
Sets the level of the input value selected in H3-02 when 0 V is input at terminal A1.
Default: 0.0%
Min: -999.9%
Max: 999.9%
237
H3-05
(413H)
Terminal A3 Signal Level
Selection 0: 0 to 10 V
1: 10 to 10 V
Default: 0
Min: 0
Max: 1
238
H3-06
(414H)
Terminal A3 Function Selection
Sets the function of terminal A3.
Default: 2
Min: 0
Max: 31
238
H3-07
(415H)
Terminal A3 Gain Setting
Sets the level of the input value selected in H3-06 when 10 V is input at terminal A3.
Default: 100.0%
Min: -999.9%
Max: 999.9%
239
H3-08
(416H)
Terminal A3 Bias Setting
Sets the level of the input value selected in H3-06 when 0 V is input at terminal A3.
Default: 0.0%
Min: -999.9%
Max: 999.9%
239
H3-09
(417H)
Terminal A2 Signal Level
Selection
0: 0 to 10 V
1: 10 to 10 V
2: 4 to 20 mA
3: 0 to 20 mA
Note: Use DIP switch S1 to set input terminal A2 for a current or a voltage input signal.
Default: 2
Min: 0
Max: 3
239
H3-10
(418H)
Terminal A2 Function Selection
Sets the function of terminal A2.
Default: 0
Min: 0
Max: 31
239
H3-11
(419H)
Terminal A2 Gain Setting
Sets the level of the input value selected in H3-10 when 10 V (20 mA) is input at terminal A2.
Default: 100.0%
Min: -999.9%
Max: 999.9%
239
H3-12
(41AH)
Terminal A2 Bias Setting
Sets the level of the input value selected in H3-10 when 0 V (0 or 4 mA) is input at terminal A2.
Default: 0.0%
Min: -999.9%
Max: 999.9%
239
H3-13
(41BH)
Analog Input Filter Time Constant
Sets a primary delay filter time constant for terminals A1, A2, and A3. Used for noise filtering.
Default: 0.03 s
Min: 0.00 s
Max: 2.00 s
239
H3-14
(41CH)
Analog Input Terminal Enable
Selection
Determines which of the analog input terminals will be enabled when a digital input
programmed for Analog input enable (H1- = C) is activated.
1: Terminal A1 only
2: Terminal A2 only
3: Terminals A1 and A2 only
4: Terminal A3 only
5: Terminals A1 and A3
6: Terminals A2 and A3
7: All terminals enabled
Default: 7
Min: 1
Max: 7
240
H2 Multi-Function Digital Output Settings
H2-
Setting
Function Description Page
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B.3 Parameter Table
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 439
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H3 Multi-Function Analog Input Settings
H3-
Setting
Function Description Page
0 Frequency Bias
10 V = E1-04 (maximum output frequency)
240
1 Frequency Gain
0 to 10 V signal allows a setting of 0 to 100%. -10 to 0 V signal allows a setting of -100 to 0%.
240
2
Auxiliary Frequency Reference 1 (used as a
Multi-Step Speed 2)
10 V = E1-04 (maximum output frequency)
240
3
Auxiliary Frequency Reference 2 (3rd step
analog)
10 V = E1-04 (maximum output frequency)
240
4 Output Voltage Bias
10 V = E1-05 (motor rated voltage)
241
5 Accel/Decel Time Gain
10 V = 100%
241
6 DC Injection Braking Current
10 V = Drive rated current
241
7 Overtorque/Undertorque Detection Level
10 V = Drive rated current (V/f, V/fw/PG)
10 V = Motor rated torque (OLV, CLV, OLV/PM, AOLV/PM, CLV/PM)
241
8 Stall Prevention Level During Run
10 V = Drive rated current
241
9 Output Frequency Lower Limit Level
10 V = E1-04 (maximum output frequency)
241
B PID Feedback
10 V = 100%
242
C PID Setpoint
10 V = 100%
242
D Frequency Bias
10 V = E1-04 (maximum output frequency)
242
E Motor Temperature (PTC input)
10 V = 100%
242
F Through Mode
Set this value when using the terminal in the pass-through mode.
242
10 Forward Torque Limit
10 V = Motor rated torque
242
11 Reverse Torque Limit
10 V = Motor rated torque
242
12 Regenerative Torque Limit
10 V = Motor rated torque
242
13 Torque Reference/Torque Limit
10 V = Motor rated torque
242
14 Torque Compensation
10 V = Motor rated torque
242
15 General Torque Limit
10 V = Motor rated torque
242
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
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All Modes
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
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All Modes
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
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B.3 Parameter Table
440 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
H4: Multi-Function Analog Outputs
H5: MEMOBUS/Modbus Serial Communication
16 Differential PID Feedback
10 V = 100%
242
1F Through Mode
Set this value when using the terminal in the pass-through mode.
242
30 to 32 DriveWorksEZ Analog Input 1 to 3
Output is determined by the function selected using DWEZ.
242
No.(Addr.) Name Description Setting Page
H4-01
(41DH)
Multi-Function Analog Output
Terminal FM Monitor Selection
Selects the data to be output through multi-function analog output terminal FM.
Set the desired monitor parameter to the digits available in U-. For example, enter 103
for U1-03.
Default: 102
Min: 000
Max: 999
242
H4-02
(41EH) Multi-Function Analog Output
Terminal FM Gain
Sets the signal level at terminal FM that is equal to 100% of the selected monitor value.
Default: 100.0%
Min: -999.9%
Max: 999.9%
243
H4-03
(41FH) Multi-Function Analog Output
Terminal FM Bias
Sets the bias value added to the terminal FM output signal.
Default: 0.0%
Min: -999.9%
Max: 999.9%
243
H4-04
(420H)
Multi-Function Analog Output
Terminal AM Monitor Selection
Selects the data to be output through multi-function analog output terminal AM.
Set the desired monitor parameter to the digits available in U-. For example, enter 103
for U1-03.
Default: 103
Min: 000
Max: 999
242
H4-05
(421H) Multi-Function Analog Output
Terminal AM Gain
Sets the signal level at terminal AM that is equal to 100% of the selected monitor value.
Default: 50.0%
Min: -999.9%
Max: 999.9%
243
H4-06
(422H) Multi-Function Analog Output
Terminal AM Bias
Sets the bias value added to the terminal AM output signal.
Default: 0.0%
Min: -999.9%
Max: 999.9%
243
H4-07
(423H)
Multi-Function Analog Output
Terminal FM Signal Level
Selection
0: 0 to 10 V
1: 10 to 10 V
Default: 0
Min: 0
Max: 1
244
H4-08
(424H)
Multi-Function Analog Output
Terminal AM Signal Level
Selection
0: 0 to 10 V
1: 10 to 10 V
Default: 0
Min: 0
Max: 1
244
No.(Addr.) Name Description Setting Page
H5-01
(425H)
<32>
Drive Node Address
Selects drive station node number (address) for MEMOBUS/Modbus terminals R+, R-, S+, S-.
Cycle power for the setting to take effect.
Default: 1F
Min: 0
Max: FFH
492
H5-02
(426H)
Communication Speed Selection
0: 1200 bps
1: 2400 bps
2: 4800 bps
3: 9600 bps
4: 19200 bps
5: 38400 bps
6: 57600 bps
7: 76800 bps
8: 115200 bps
Cycle power for the setting to take effect.
Default: 3
Min: 0
Max: 8
492
H5-03
(427H)
Communication Parity Selection
0: No parity
1: Even parity
2: Odd parity
Cycle power for the setting to take effect.
Default: 0
Min: 0
Max: 2
492
H5-04
(428H)
Stopping Method After
Communication Error (CE)
0: Ramp to stop
1: Coast to stop
2: Fast Stop
3: Alarm only
Default: 0
Min: 0
Max: 3
492
H3 Multi-Function Analog Input Settings
H3-
Setting
Function Description Page
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B.3 Parameter Table
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 441
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H6: Pulse Train Input/Output
H5-05
(429H)
Communication Fault Detection
Selection 0: Disabled
1: Enabled. If communication is lost for more than two seconds, a CE fault will occur.
Default: 0
Min: 0
Max: 1
493
H5-06
(42AH)
Drive Transmit Wait Time
Set the wait time between receiving and sending data.
Default: 5 ms
Min: 5 ms
Max: 65 ms
493
H5-07
(42BH)
RTS Control Selection
0: Disabled. RTS is always on.
1: Enabled. RTS turns on only when sending.
Default: 1
Min: 0
Max: 1
493
H5-09
(435H)
CE Detection Time
Sets the time required to detect a communications error. Adjustment may be needed when
networking several drives.
Default: 2.0 s
Min: 0.0 s
Max: 10.0 s
493
H5-10
(436H)
Unit Selection for MEMOBUS/
Modbus Register 0025H 0: 0.1 V units
1: 1 V units
Default: 0
Min: 0
Max: 1
493
H5-11
(43CH)
Communications ENTER Function
Selection 0: Drive requires an Enter command before accepting any changes to parameter settings.
1: Parameter changes are activated immediately without the Enter command (same as V7).
Default: 1
Min: 0
Max: 1
494
H5-12
(43DH)
Run Command Method Selection
0: FWD/Stop, REV/Stop
1: Run/Stop, FWD/REV
Default: 0
Min: 0
Max: 1
494
<32> If this parameter is set to 0, the drive will be unable to respond to MEMOBUS/Modbus commands.
No.(Addr.) Name Description Setting Page
H6-01
(42CH)
Pulse Train Input Terminal RP
Function Selection
0: Frequency reference
1: PID feedback value
2: PID setpoint value
3: V/f Control with Simple PG feedback (possible only when using motor 1 in V/f Control)
Default: 0
Min: 0
Max: 3
244
H6-02
(42DH)
Pulse Train Input Scaling
Sets the terminal RP input signal frequency that is equal to 100% of the value selected in H6-01.
Default: 1440 Hz
Min: 1000 Hz
Max: 32000 Hz
245
H6-03
(42EH)
Pulse Train Input Gain
Sets the level of the value selected in H6-01 when a frequency with the value set in H6-02 is
input.
Default: 100.0%
Min: 0.0%
Max: 1000.0%
245
H6-04
(42FH)
Pulse Train Input Bias
Sets the level of the value selected in H6-01 when 0 Hz is input.
Default: 0.0%
Min: -100.0%
Max: 100.0%
245
H6-05
(430H)
Pulse Train Input Filter Time
Sets the pulse train input filter time constant.
Default: 0.10 s
Min: 0.00 s
Max: 2.00 s
245
H6-06
(431H)
Pulse Train Monitor Selection
Select the pulse train monitor output function (value of the - part of U-).
Example: To select U5-01, set 501.
Default: 102
Min: 000
Max: 809
246
H6-07
(432H)
Pulse Train Monitor Scaling
Sets the terminal MP output signal frequency when the monitor value is 100%. To have the
pulse train monitor output equal the output frequency, set H6-06 to 2 and H6-07 to 0.
Default: 1440 Hz
Min: 0 Hz
Max: 32000 Hz
246
H6-08
(43FH)
Pulse Train Input Minimum
Frequency Sets the minimum frequency for the pulse train input to be detected. Enabled when H6-01 = 0,
1, or 2.
Default: 0.5 Hz
Min: 0.1 Hz
Max: 1000.0 Hz
246
No.(Addr.) Name Description Setting Page
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B.3 Parameter Table
442 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
L: Protection Function
L parameters provide protection to the drive and motor, such as: control during momentary power loss, Stall Prevention,
frequency detection, fault restarts, overtorque detection, torque limits, and other types of hardware protection.
L1: Motor Protection
L2: Momentary Power Loss Ride-Thru
No. (Addr.) Name Description Setting Page
L1-01
(480H)
<10> Default setting is determined by the control mode (A1-02).
Motor Overload Protection
Selection
0: Disabled
1: General purpose motor (standard fan cooled)
2: Drive dedicated motor with a speed range of 1:10
3: Vector motor with a speed range of 1:100
4: PM motor with variable torque
5: PM motor with constant torque control
6: General purpose motor (50 Hz)
The drive may not be able to provide protection when multiple motors are used, even if
overload is enabled in L1-01. Set L1-01 to 0 and install separate thermal relay to each motor.
Default: <10>
Min: 0
Max: 6
247
L1-02
(481H)
Motor Overload Protection Time
Sets the motor thermal overload protection (oL1) time.
Default: 1.0 min
Min: 0.1 min
Max: 5.0 min
249
L1-03
(482H)
Motor Overheat Alarm Operation
Selection (PTC input)
Sets operation when the motor temperature analog input (H3-02, H3-06, or H3-10 = E) exceeds
the oH3 alarm level.
0: Ramp to stop
1: Coast to stop
2: Fast Stop (decelerate to stop using the deceleration time in C1-09)
3: Alarm only (oH3 will flash)
Default: 3
Min: 0
Max: 3
251
L1-04
(483H)
Motor Overheat Fault Operation
Selection (PTC input)
Sets stopping method when the motor temperature analog input (H3-02, H3-06, or H3-10 = E)
exceeds the oH4 fault level.
0: Ramp to stop
1: Coast to stop
2: Fast Stop (decelerate to stop using the deceleration time in C1-09)
Default: 1
Min: 0
Max: 2
251
L1-05
(484H)
Motor Temperature Input Filter
Time (PTC input)
Adjusts the filter for the motor temperature analog input (H3-02, H3-06, or H3-10 = E).
Default: 0.20 s
Min: 0.00 s
Max: 10.00 s
251
L1-13
(46DH)
Continuous Electrothermal
Operation Selection 0: Disabled
1: Enabled
Default: 1
Min: 0
Max: 1
251
No. (Addr.) Name Description Setting Page
L2-01
(485H)
Momentary Power Loss Operation
Selection
0: Disabled. Drive trips on (Uv1) fault when power is lost.
1: Recover within the time set in L2-02. Uv1 will be detected if power loss is longer than L2-02.
2: Recover as long as CPU has power. Uv1 is not detected.
3: KEB deceleration for the time set to L2-02.
4: KEB deceleration as long as CPU has power.
5: KEB deceleration to stop.
Default: 0
Min: 0
Max: 5
252
L2-02
(486H)
Momentary Power Loss Ride-Thru
Time
Sets the Power Loss Ride-Thru time. Enabled only when L2-01 = 1 or 3.
Default: <9>
Min: 0.0 s
Max: 25.5 s
257
L2-03
(487H)
Momentary Power Loss Minimum
Baseblock Time
Sets the minimum wait time for residual motor voltage decay before the drive output
reenergizes after performing Power Loss Ride-Thru.
Increasing the time set to L2-03 may help if overcurrent or overvoltage occur during Speed
Search or during DC Injection Braking.
Default: <9>
Min: 0.1 s
Max: 5.0 s
257
L2-04
(488H)
Momentary Power Loss Voltage
Recovery Ramp Time
Sets the time for the output voltage to return to the preset V/f pattern during Speed Search.
Default: <9>
Min: 0.0 s
Max: 5.0 s
257
L2-05
(489H)
Undervoltage Detection Level
(Uv)
Sets the DC bus undervoltage trip level.
Default: <18> <33>
Min: 150 Vdc
Max: 210 Vdc <18>
257
L2-06
(48AH)
KEB Deceleration Time
Sets the time required to decelerate from the speed when KEB was activated to zero speed.
Default: 0.00 s
Min: 0.00 s
Max: 6000.0 s <12>
257
L2-07
(48BH)
KEB Acceleration Time
Sets the time to accelerate to the frequency reference when momentary power loss is over. If set
to 0.0, the active acceleration time is used.
Default: 0.00 s
Min: 0.00 s
Max: 6000.0 s <12>
258
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All Modes
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All Modes
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All Modes
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All Modes
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All Modes
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All Modes
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
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All Modes
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All Modes
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B.3 Parameter Table
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 443
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L3: Stall Prevention
L2-08
(48CH)
Frequency Gain at KEB Start
Sets the percentage of output frequency reduction at the beginning of deceleration when the
KEB Ride-Thru function is started.
Reduction = (slip frequency before KEB) L2-08 2
Default: 100%
Min: 0%
Max: 300%
258
L2-10
(48EH)
KEB Detection Time (Minimum
KEB Time)
Sets the time to perform KEB Ride-Thru.
Default: 50 ms
Min: 0 ms
Max: 2000 ms
258
L2-11
(461H)
DC Bus Voltage Setpoint during
KEB
Sets the desired value of the DC bus voltage during KEB Ride-Thru.
Default: <18> <33>
[E1-01] 1.22
Min: 150 Vdc
Max: 400 Vdc <18>
258
L2-29
(475H)
KEB Method Selection
0: Single Drive KEB Ride-Thru 1
1: Single Drive KEB Ride-Thru 2
2: System KEB Ride-Thru 1
3: System KEB Ride-Thru 2
Default: 0
Min: 0
Max: 3
258
<9> Default setting is determined by the drive model (o2-04) and duty selection (C6-01).
<12> Setting range value is dependent on the units selected for the accel/decel time (C1-10). When C1-10 = 0 (units of 0.01 s), the setting range
becomes 0.00 to 600.00 s.
<18> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
<33> Default setting value is dependent on the setting for the input voltage (E1-01).
No. (Addr.) Name Description Setting Page
L3-01
(48FH)
Stall Prevention Selection during
Acceleration
0: Disabled.
1: General purpose. Acceleration is paused as long as the current is above the L3-02 setting.
2: Intelligent. Accelerate in the shortest possible time without exceeding the L3-02 level.
Note: Setting 2 is not available when using OLV/PM.
Default: 1
Min: 0
Max: 2
259
L3-02
(490H)
Stall Prevention Level during
Acceleration
Used when L3-01 = 1 or 2. 100% is equal to the drive rated current.
Default: <35>
Min: 0%
Max: 150%<35>
260
L3-03
(491H)
Stall Prevention Limit during
Acceleration
Sets Stall Prevention lower limit during acceleration when operating in the constant power
range. Set as a percentage of the drives rated current.
Default: 50%
Min: 0%
Max: 100%
260
L3-04
(492H)
Stall Prevention Selection during
Deceleration
0: Disabled. Deceleration at the active deceleration rate. An ov fault may occur.
1: General purpose. Deceleration is paused when the DC bus voltage exceeds the Stall
Prevention level.
2: Intelligent. Decelerate as fast as possible while avoiding ov faults.
3: Stall Prevention with braking resistor. Stall Prevention during deceleration is enabled in
coordination with dynamic braking.
4: Overexcitation Deceleration. Decelerates while increasing the motor flux.
5: Overexcitation Deceleration 2. Adjust the deceleration rate according to the DC bus voltage.
Default: 1
Min: 0
Max: 5 <34>
261
L3-05
(493H)
Stall Prevention Selection during
Run
0: Disabled. Drive runs at a set frequency. A heavy load may cause speed loss.
1: Decel time 1. Uses the deceleration time set to C1-02 while Stall Prevention is performed.
2: Decel time 2. Uses the deceleration time set to C1-04 while Stall Prevention is performed.
Default: 1
Min: 0
Max: 2
262
L3-06
(494H)
Stall Prevention Level during Run
Enabled when L3-05 is set to 1 or 2. 100% is equal to the drive rated current.
Default: <35>
Min: 30%
Max: 150%<35>
262
L3-11
(4C7H)
Overvoltage Suppression Function
Selection
Enables or disables the ov suppression function, which allows the drive to change the output
frequency as the load changes to prevent an ov fault.
0: Disabled
1: Enabled
Default: 0
Min: 0
Max: 1
263
L3-17
(462H)
<18>
Target DC Bus Voltage for
Overvoltage Suppression and Stall
Prevention
Sets the desired value for the DC bus voltage during overvoltage suppression and Stall
Prevention during deceleration.
Default: 370 Vdc <33>
Min: 150 Vdc
Max: 400 Vdc <33>
263
L3-20
(465H)
DC Bus Voltage Adjustment Gain
Sets the proportional gain for KEB Ride-Thru, Stall Prevention, and overvoltage suppression.
Default: <10>
Min: 0.00
Max: 5.00
263
No. (Addr.) Name Description Setting Page
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
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B.3 Parameter Table
444 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
L4: Speed Detection
L3-21
(466H)
Accel/Decel Rate Calculation Gain
Sets the proportional gain used to calculate the deceleration rate during KEB Ride-Thru, ov
suppression function, and Stall Prevention during deceleration (L3-04 = 2).
Default: 1.00
Min: 0.10
Max: 10.00
264
L3-22
(4F9H)
Deceleration Time at Stall
Prevention during Acceleration
Sets the deceleration time used for Stall Prevention during acceleration in OLV/PM.
Default: 0.0 s
Min: 0.0 s
Max: 6000 s
260
L3-23
(4FDH)
Automatic Reduction Selection for
Stall Prevention during Run
0: Sets the Stall Prevention level set in L3-06 that is used throughout the entire frequency range.
1: Automatic Stall Prevention level reduction in the constant output range. The lower limit
value is 40% of L3-06.
Default: 0
Min: 0
Max: 1
262
L3-24
(46EH)
Motor Acceleration Time for
Inertia Calculations
Sets the time needed to accelerate the uncoupled motor at rated torque from stop to the
maximum frequency.
Default: <8> <9> <14>
Min: 0.001 s
Max: 10.000 s
264
L3-25
(46FH)
Load Inertia Ratio
Sets the ratio between the motor and machine inertia.
Default: 1.0
Min: 1.0
Max: 1000.0
264
L3-26
(455H)
Additional DC Bus Capacitors
When DC bus capacitors have been added externally, be sure to add those values to the internal
capacitor table for proper DC bus calculations.
Default: 0 F
Min: 0 F
Max: 65000 F
265
L3-27
(456H)
Stall Prevention Detection Time
Sets the time the current must exceed the Stall Prevention level to activate Stall Prevention.
Default: 50 ms
Min: 0 ms
Max: 5000 ms
265
<8> Parameter value is changed if E2-11 is manually changed or changed by Auto-Tuning.
<9> Default setting is determined by the drive model (o2-04) and duty selection (C6-01).
<10> Default setting is determined by the control mode (A1-02).
<14> Default setting value is dependent on the motor code set to parameter E5-01.
<18> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
<33> Default setting value is dependent on the setting for the input voltage (E1-01).
<34> Setting range is dependent on the control mode (A1-02). When using CLV, OLV/PM, or AOLV/PM, the setting range is 0 to 2 s.
<35> The upper limit of the setting range is determined by the values set to the duty selection (C6-01) and the carrier frequency reduction selection
(L8-38).
No. (Addr.) Name Description Setting Page
L4-01
(499H)
<10> Default setting is determined by the control mode (A1-02).
Speed Agreement Detection Level
L4-01 sets the frequency detection level for digital output functions H2- = 2, 3, 4, 5.
L4-02 sets the hysteresis or allowable margin for speed detection.
Default: 0.0 Hz
Min: 0.0 Hz
Max: 400.0 Hz
265
L4-02
(49AH)
Speed Agreement Detection Width
Default: <10>
Min: 0.0 Hz
Max: 20.0 Hz
265
L4-03
(49BH)
Speed Agreement Detection Level
(+/-)
L4-03 sets the frequency detection level for digital output functions H2- = 13, 14, 15, 16.
L4-04 sets the hysteresis or allowable margin for speed detection.
Default: 0.0 Hz
Min: -400.0 Hz
Max: 400.0 Hz
265
L4-04
(49CH)
Speed Agreement Detection Width
(+/-)
Default: <10>
Min: 0.0 Hz
Max: 20.0 Hz
265
L4-05
(49DH)
Frequency Reference Loss
Detection Selection 0: Stop. Drive stops when the frequency reference is lost.
1: Run. Drive runs at a reduced speed when the frequency reference is lost.
Default: 0
Min: 0
Max: 1
265
L4-06
(4C2H)
Frequency Reference at Reference
Loss Sets the percentage of the frequency reference that the drive should run with when the
frequency reference is lost.
Default: 80%
Min: 0.0%
Max: 100.0%
266
L4-07
(470H)
Speed Agreement Detection
Selection 0: No detection during baseblock.
1: Detection always enabled.
Default: 0
Min: 0
Max: 1
266
No. (Addr.) Name Description Setting Page
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
All Modes
common_
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
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All Modes
common_
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All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
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All Modes
common_
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B.3 Parameter Table
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 445
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L5: Fault Restart
L6: Torque Detection
No. (Addr.) Name Description Setting Page
L5-01
(49EH)
Number of Auto Restart Attempts
Sets the number of times the drive may attempt to restart after the following faults occur: GF,
LF, oC, ov, PF, rH, rr, oL1, oL2, oL3, oL4, STo, Uv1.
Default: 0
Min: 0
Max: 10
267
L5-02
(49FH)
Auto Restart Fault Output
Operation Selection 0: Fault output not active.
1: Fault output active during restart attempt.
Default: 0
Min: 0
Max: 1
267
L5-04
(46CH)
Fault Reset Interval Time
Sets the amount of time to wait between performing fault restarts.
Default: 10.0 s
Min: 0.5 s
Max: 600.0 s
267
L5-05
(467H)
Fault Reset Operation Selection
0: Continuously attempt to restart while incrementing restart counter only at a successful
restarts (same as F7 and G7).
1: Attempt to restart with the interval time set in L5-04 and increment the restart counter with
each attempt (same V7).
Default: 0
Min: 0
Max: 1
267
No. (Addr.) Name Description Setting Page
L6-01
(4A1H)
Torque Detection Selection 1
0: Disabled
1: oL3 detection only active during speed agree, operation continues after detection
2: oL3 detection always active during run, operation continues after detection
3: oL3 detection only active during speed agree, output shuts down on an oL3 fault
4: oL3 detection always active during run, output shuts down on an oL3 fault
5: UL3 detection only active during speed agree, operation continues after detection
6: UL3 detection always active during run, operation continues after detection
7: UL3 detection only active during speed agree, output shuts down on an oL3 fault
8: UL3 detection always active during run, output shuts down on an oL3 fault
Default: 0
Min: 0
Max: 8
268
L6-02
(4A2H)
Torque Detection Level 1
Sets the overtorque and undertorque detection level.
Default: 150%
Min: 0%
Max: 300%
269
L6-03
(4A3H)
Torque Detection Time 1
Sets the time an overtorque or undertorque condition must exist to trigger torque detection 1.
Default: 0.1 s
Min: 0.0 s
Max: 10.0 s
269
L6-04
(4A4H)
Torque Detection Selection 2
0: Disabled
1: oL4 detection only active during speed agree, operation continues after detection
2: oL4 detection always active during run, operation continues after detection
3: oL4 detection only active during speed agree, output shuts down on an oL4 fault
4: oL4 detection always active during run, output shuts down on an oL4 fault
5: UL4 detection only active during speed agree, operation continues after detection
6: UL4 detection always active during run, operation continues after detection
7: UL4 detection only active during speed agree, output shuts down on an oL4 fault
8: UL4 detection always active during run, output shuts down on an oL4 fault
Default: 0
Min: 0
Max: 8
268
L6-05
(4A5H)
Torque Detection Level 2
Sets the overtorque and undertorque detection level.
Default: 150%
Min: 0%
Max: 300%
269
L6-06
(4A6H)
Torque Detection Time 2
Sets the time an overtorque or undertorque condition must exist to trigger torque detection 2.
Default: 0.1 s
Min: 0.0 s
Max: 10.0 s
269
L6-08
(468H)
Mechanical Weakening Detection
Operation
This function can detect an overtorque or undertorque in a certain speed range as a result of
machine fatigue. It is triggered by a specified operation time and uses the oL1 detection settings
(L6-01 and L6-03)
0: Mechanical Weakening Detection disabled.
1: Continue running (alarm only). Detected when the speed (signed) is greater than L6-09.
2: Continue running (alarm only). Detected when the speed (not signed) is greater than L6-09.
3: Interrupt drive output (fault). Detected when the speed (signed) is greater than L6-09.
4: Interrupt drive output (fault). Detected when the speed (not signed) is greater than L6-09.
5: Continue running (alarm only). Detected when the speed (signed) is less than L6-09.
6: Continue running (alarm only). Detected when the speed (not signed) is less than L6-09.
7: Interrupt drive output (fault). Detected when the speed (signed) is less than L6-09.
8: Interrupt drive output (fault). Detected when the speed (not signed) is less than L6-09.
Default: 0
Min: 0
Max: 8
269
L6-09
(469H)
Mechanical Weakening Detection
Speed Level Sets the speed that triggers Mechanical Weakening Detection. When L6-08 is set for an
unsigned value, the absolute value is used if the setting is negative.
Default: 110.0%
Min: -110.0%
Max: 110.0%
270
L6-10
(46AH)
Mechanical Weakening Detection
Time
Sets the time mechanical weakening has to be detected before an alarm or fault is triggered.
Default: 0.1 s
Min: 0.0 s
Max: 10.0 s
270
L6-11
(46BH)
Mechanical Weakening Detection
Start Time
Sets the operation time (U1-04) required before Mechanical Weakening Detection is active.
Default: 0
Min: 0
Max: 65535
270
All Modes
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
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B.3 Parameter Table
446 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
L7: Torque Limit
L8: Drive Protection
No. (Addr.) Name Description Setting Page
L7-01
(4A7H)
Forward Torque Limit
Sets the torque limit value as a percentage of the motor rated torque. Four individual quadrants
can be set.
Default: 200%
Min: 0%
Max: 300%
271
L7-02
(4A8H)
Reverse Torque Limit
Default: 200%
Min: 0%
Max: 300%
271
L7-03
(4A9H)
Forward Regenerative Torque
Limit
Default: 200%
Min: 0%
Max: 300%
271
L7-04
(4AAH)
Reverse Regenerative Torque
Limit
Default: 200%
Min: 0%
Max: 300%
271
L7-06
(4ACH)
Torque Limit Integral Time
Constant
Sets the integral time constant for the torque limit.
Default: 200 ms
Min: 5 ms
Max: 10000 ms
271
L7-07
(4C9H)
Torque Limit Control Method
Selection during Accel/Decel
0: Proportional control (changes to integral control at constant speed). Use this setting when
acceleration to the desired speed should take precedence over the torque limit.
1: Integral control. Set L7-07 to 1 if the torque limit should take precedence.
Default: 0
Min: 0
Max: 1
271
No. (Addr.) Name Description Setting Page
L8-01
(4ADH)
Internal Dynamic Braking Resistor
Protection Selection (ERF type) 0: Resistor overheat protection disabled
1: Resistor overheat protection enabled
Default: 0
Min: 0
Max: 1
272
L8-02
(4AEH)
Overheat Alarm Level
An overheat alarm will occur if the heatsink temperature exceeds the level set in L8-02.
Default: <9>
Min: 50C
Max: 130C
272
L8-03
(4AFH)
Overheat Pre-Alarm Operation
Selection
0: Ramp to stop. A fault is triggered.
1: Coast to stop. A fault is triggered.
2: Fast Stop. Decelerate to stop using the deceleration time in C1-09. A fault is triggered.
3: Continue operation. An alarm is triggered.
4: Continue operation at reduced speed as set in L8-19.
Default: 3
Min: 0
Max: 4
272
L8-05
(4B1H)
Input Phase Loss Protection
Selection
Selects the detection of input current phase loss, power supply voltage imbalance, or main
circuit electrolytic capacitor deterioration.
0: Disabled
1: Enabled
Default: <43>
Min: 0
Max: 1
273
L8-07
(4B3H)
Output Phase Loss Protection
Selection
0: Disabled
1: Enabled (triggered by a single phase loss)
2: Enabled (triggered when two phases are lost)
Default: 0
Min: 0
Max: 2
274
L8-09
(4B5H)
Output Ground Fault Detection
Selection 0: Disabled
1: Enabled
Default: <9>
Min: 0
Max: 1
274
L8-10
(4B6H)
Heatsink Cooling Fan Operation
Selection 0: During run only. Fan operates only during run and for L8-11 seconds after stop.
1: Fan always on. Cooling fan operates whenever the drive is powered up.
Default: 0
Min: 0
Max: 1
274
L8-11
(4B7H)
Heatsink Cooling Fan Off Delay
Time
Sets a delay time to shut off the cooling fan after the Run command is removed when L8-10 = 0.
Default: 60 s
Min: 0 s
Max: 300 s
274
L8-12
(4B8H)
Ambient Temperature Setting
Enter the ambient temperature. This value adjusts the oL2 detection level.
Default: 40C
Min: -10C
Max: 50C
274
L8-15
(4BBH)
oL2 Characteristics Selection at
Low Speeds 0: No oL2 level reduction below 6 Hz.
1: oL2 level is reduced linearly below 6 Hz. It is halved at 0 Hz.
Default: 1
Min: 0
Max: 1
275
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
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L7-01
L7-03
L7-02
L7-04
Output Torque
Positive Torque
REV
Negative Torque
FWD
Motor
r/min
Regeneration
Regeneration
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
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All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
B.3 Parameter Table
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 447
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n: Special Adjustment
The n parameters are used to adjust more advanced performance characteristics such as Hunting Prevention, speed
feedback detection, High Slip Braking, and Online Tuning for motor line-to-line resistance.
n1: Hunting Prevention
L8-18
(4BEH)
Software Current Limit Selection
0: Disabled
1: Enabled
Default: 0
Min: 0
Max: 1
275
L8-19
(4BFH)
Frequency Reduction Rate during
Overheat Pre-Alarm
Specifies the frequency reference reduction gain at overheat pre-alarm when L8-03 = 4.
Default: 0.8
Min: 0.1
Max: 0.9
273
L8-27
(4DDH)
Overcurrent Detection Gain
Sets the gain for overcurrent detection as a percentage of the motor rated current. Overcurrent is
detected using the drives overcurrent level or the value set to L8-27, whichever is lower.
Default: 300.0%
Min: 0.0%
Max: 300.0%
275
L8-29
(4DFH)
Current Unbalance Detection
(LF2)
0: Disabled
1: Enabled
Default: 1
Min: 0
Max: 1
275
L8-35
(4ECH)
Installation Method Selection
0: IP00 enclosure drive
1: Side-by-Side mounting
2: NEMA Type 1 enclosure
3: Finless model drive or external heatsink installation
Default: <3> <9>
Min: 0
Max: 3
276
L8-38
(4EFH)
Carrier Frequency Reduction
Selection
0: Disabled
1: Enabled below 6 Hz
2: Enabled for the entire speed range
Default: <16>
Min: 0
Max: 2
276
L8-40
(4F1H)
Carrier Frequency Reduction
Off-Delay Time
Sets the time that the drive continues running with reduced carrier frequency after the carrier
reduction condition is gone. Setting 0.00 s disables the carrier frequency reduction time.
Default: <10>
Min: 0.00 s
Max: 2.00 s
276
L8-41
(4F2H)
High Current Alarm Selection
0: Disabled
1: Enabled. An alarm is triggered at output currents above 150% of the drives rated current.
Default: 0
Min: 0
Max: 1
276
L8-55
(45FH)
Internal Braking Transistor
Protection 0: Disabled. L8-55 should be disabled when using a regen converter or an optional braking unit.
1: Protection enabled.
Default: 1
Min: 0
Max: 1
277
<3> Parameter setting value is not reset to the default value when the drive is initialized.
<9> Default setting is determined by the drive model (o2-04) and duty selection (C6-01).
<10> Default setting is determined by the control mode (A1-02).
<16> Default setting is determined by the control mode (A1-02) and the drive model (o2-04).
<43> Regional default settings
Setting 0: Japan (Model code: CIMR-AAA) and Asia (Model code: CIMR-ATA)
Setting 1: China (Model code: CIMR-ABA)
No. (Addr.) Name Description Setting Page
n1-01
(580H)
Hunting Prevention Selection
0: Disabled
1: Enabled
Default: 1
Min: 0
Max: 1
278
n1-02
(581H)
Hunting Prevention Gain Setting
If the motor vibrates while lightly loaded, increase the gain by 0.1 until vibration ceases. If the
motor stalls, decrease the gain by 0.1 until the stalling ceases.
Default: 1.00
Min: 0.00
Max: 2.50
278
n1-03
(582H)
Hunting Prevention Time Constant
Sets the time constant used for Hunting Prevention.
Default: <6>
Min: 0 ms
Max: 500 ms
278
No. (Addr.) Name Description Setting Page
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
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All Modes
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
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All Modes
common_
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
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All Modes
common_
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All Modes
common_
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
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B.3 Parameter Table
448 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
n2: Speed Feedback Detection Control (AFR) Tuning
n3: High Slip Braking (HSB) and Overexcitation Braking
n1-05
(530H)
Hunting Prevention Gain while in
Reverse
Sets the gain used for Hunting Prevention. If set to 0, the gain set to n1-02 is used for operation
in reverse.
Default: 0.00
Min: 0.00
Max: 2.50
278
<6> Default setting value varies by the drive model (o2-04).
No. (Addr.) Name Description Setting Page
n2-01
(584H)
Speed Feedback Detection Control
(AFR) Gain
Sets the internal speed feedback detection control gain in the automatic frequency regulator
(AFR).
If hunting occurs, increase the set value. If response is low, decrease the set value.
Default: 1.00
Min: 0.00
Max: 10.00
279
n2-02
(585H)
Speed Feedback Detection Control
(AFR) Time Constant 1
Sets the time constant used for speed feedback detection control (AFR).
Default: 50 ms
Min: 0 ms
Max: 2000 ms
279
n2-03
(586H)
Speed Feedback Detection Control
(AFR) Time Constant 2
Sets the AFR time constant to be used during Speed Search and during regen.
Default: 750 ms
Min: 0 ms
Max: 2000 ms
279
No. (Addr.) Name Description Setting Page
n3-01
(588H)
<35> The upper limit of the setting range is determined by the values set to duty selection (C6-01) and the carrier frequency reduction selection (L8-38).
High Slip Braking Deceleration
Frequency Width
Sets the output frequency reduction step width for when the drive stops the motor using HSB.
Set as a percentage of the maximum output frequency. Increase this setting if overvoltage
occurs during HSB.
Default: 5%
Min: 1%
Max: 20%
279
n3-02
(589H)
High Slip Braking Current Limit
Sets the current limit during HSB as a percentage of the motor rated current.
Default: <35>
Min: 100%
Max: 200%
280
n3-03
(58AH)
High Slip Braking Dwell Time at
Stop
Sets the time the drive will run with minimum frequency (E1-09) at the end of deceleration.
If this time is set too low, the machine inertia can cause the motor to rotate slightly after HSB.
Default: 1.0 s
Min: 0.0 s
Max: 10.0 s
280
n3-04
(58BH)
High-Slip Braking Overload Time
Sets the time required for an HSB overload fault (oL7) to occur when the drive output
frequency does not change during an HSB stop. This parameter does not typically require
adjustment.
Default: 40 s
Min: 30 s
Max: 1200 s
280
n3-13
(531H)
Overexcitation Deceleration Gain
Sets the gain applied to the V/f pattern during Overexcitation Deceleration (L3-04 = 4).
Default: 1.10
Min: 1.00
Max: 1.40
281
n3-14
(532H)
High Frequency Injection during
Overexcitation Deceleration
0: Disabled
1: Enabled
Default: 0
Min: 0
Max: 1
281
n3-21
(579H)
High-Slip Suppression Current
Level
Sets output current level at which the drive will start reducing the overexcitation gain in order to
prevent a too high motor slip during Overexcitation Deceleration. Set as a percentage of the
drive rated current.
Default: 100%
Min: 0%
Max: 150%
281
n3-23
(57BH)
Overexcitation Operation
Selection
0: Enabled in both directions
1: Enabled only when rotating forward
2: Enabled only when in reverse
Default: 0
Min: 0
Max: 2
281
No. (Addr.) Name Description Setting Page
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
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B.3 Parameter Table
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 449
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n5: Feed Forward Control
n6: Online Tuning
n8: PM Motor Control Tuning
No. (Addr.) Name Description Setting Page
n5-01
(5B0H)
<9> Default setting value is dependent on the drive model (o2-04) and the Drive Duty (C6-01).
<14> Default setting value is dependent on the motor code set to E5-01.
Feed Forward Control Selection
0: Disabled
1: Enabled
Default: 0
Min: 0
Max: 1
282
n5-02
(5B1H)
Motor Acceleration Time
Sets the time required to accelerate the motor at the rated torque from stop to rated speed.
Default: <9> <14>
Min: 0.001 s
Max: 10.000 s
282
n5-03
(5B2H)
Feed Forward Control Gain
Sets the ratio between motor and load inertia. Lower this setting if overshoot occurs at the end
of acceleration.
Default: 1.00
Min: 0.00
Max: 100.00
283
No. (Addr.) Name Description Setting Page
n6-01
(570H)
Online Tuning Selection
0: Disabled
1: Line-to-line resistance tuning
2: Voltage correction. Setting not possible when Energy Saving is enabled (b8-01).
Default: 2
Min: 0
Max: 2
284
n6-05
(5C7H)
Online Tuning Gain
Decrease this setting for motors with a relatively large rotor time constant.
If overload occurs, increase this setting slowly in increments of 0.10.
Default: 1.00
Min: 0.10
Max: 5.00
284
No. (Addr.) Name Description Setting Page
n8-01
(540H)
Initial Rotor Position Estimation
Current
Sets the current used for initial rotor position estimation as a percentage of the motor rated
current (E5-03). If the motor nameplate lists an Si value, that value should be entered here.
Default: 50%
Min: 0%
Max: 100%
284
n8-02
(541H)
Pole Attraction Current
Sets the current during initial polar attraction as a percentage of the motor rated current. Enter a
high value when attempting to increase starting torque.
Default: 80%
Min: 0%
Max: 150%
284
n8-35
(562H)
Initial Rotor Position Detection
Selection
0: Pull-in
1: High frequency injection
2: Pulse injection
Default: 1
Min: 0
Max: 2
284
n8-45
(538H)
Speed Feedback Detection Control
Gain
Increase this setting if hunting occurs. Decrease to lower the response.
Default: 0.80
Min: 0.00
Max: 10.00
285
n8-47
(53AH)
Pull-In Current Compensation
Time Constant
Sets the time constant to make the pull-in current reference and actual current value agree.
Decrease the value if the motor begins to oscillate, and increase the value if it takes too long for
the current reference to equal the output current.
Default: 5.0 s
Min: 0.0 s
Max: 100.0 s
285
n8-48
(53BH)
Pull-In Current
Defines the d-axis current reference during no-load operation at a constant speed. Set as a
percentage of the motor rated current. Increase this setting if hunting occurs while running at
constant speed.
Default: 30%
Min: 20%
Max: 200%
285
n8-49
(53CH)
d-Axis Current for High Efficiency
Control
Sets the d-axis current reference when running a high load at constant speed. Set as a percentage
of the motor rated current.
Default: <14>
Min: -200.0%
Max: 0.0%
285
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
B.3 Parameter Table
450 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
o: Operator Related Settings
The o parameters are used to set up the digital operator displays.
o1: Digital Operator Display Selection
n8-51
(53EH)
Acceleration/Deceleration Pull-In
Current
Sets the d-axis current reference during acceleration/deceleration as a percentage of the motor
rated current. Set to a high value when more starting torque is needed.
Default: 50%
Min: 0%
Max: 200%
285
n8-54
(56DH)
Voltage Error Compensation Time
Constant
Adjusts the value when hunting occurs at low speed. If hunting occurs with sudden load
changes, increase n8-54 in increments of 0.1. Reduce this setting if oscillation occurs at start.
Default: 1.00 s
Min: 0.00 s
Max: 10.00 s
286
n8-55
(56EH)
Load Inertia
For large inertia loads or to increase the speed control response, increase this setting. Too high
of a setting when driving a very light load or load with very low inertia can result in oscillation.
Default: 0
Min: 0
Max: 3
286
n8-57
(574H)
High Frequency Injection
0: Disabled. Disable when using an SPM motor.
1: Enabled. Use this setting to enhance the speed control range when using an IPM motor.
Default: 0
Min: 0
Max: 1
286
n8-62
(57DH)
<18>
Output Voltage Limit
Prevents output voltage saturation. Should be set just below the voltage provided by the input
power supply.
Default: 200.0 V
Min: 0.0 V
Max: 230.0 V
286
n8-65
(65CH)
Speed Feedback Detection Control
Gain during ov Suppression
Sets the gain used for internal speed feedback detection during ov suppression
Default: 1.50
Min: 0.00
Max: 10.00
286
<14> Default setting value is dependent on the motor code set to E5-01.
<18> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
No. (Addr.) Name Description Setting Page
o1-01
(500H)
<10> Default setting is determined by the control mode (A1-02).
<36> Default setting value is determined by the digital operator display selection (o1-03).
Drive Mode Unit Monitor
Selection Selects the content of the last monitor that is shown when scrolling through Drive Mode
display. Enter the last three digits of the monitor parameter number to be displayed: U-.
Default: 106 (Monitor
U1-06)
Min: 104
Max: 809
287
o1-02
(501H) User Monitor Selection after
Power Up
1: Frequency reference (U1-01)
2: Direction
3: Output frequency (U1-02)
4: Output current (U1-03)
5: User-selected monitor (set by o1-01)
Default: 1
Min: 1
Max: 5
287
o1-03
(502H)
Digital Operator Display Selection
Sets the units the drive should use to display the frequency reference and motor speed monitors.
0: 0.01 Hz
1: 0.01% (100% = E1-04)
2: r/min (calculated using the number of motor poles setting in E2-04, E4-04, or E5-04)
3: User-selected units (set by o1-10 and o1-11)
Default: <10>
Min: 0
Max: 3
287
o1-04
(503H)
V/f Pattern Display Unit
0: Hz
1: r/min
Default: <10>
Min: 0
Max: 1
288
o1-10
(520H)
User-Set Display Units Maximum
Value
These settings define the display values when o1-03 is set to 3.
o1-10 sets the display value that is equal to the maximum output frequency.
o1-11 sets the position of the decimal position.
Default: <36>
Min: 1
Max: 60000
288
o1-11
(521H)
User-Set Display Units Decimal
Display
Default: <36>
Min: 0
Max: 3
288
No. (Addr.) Name Description Setting Page
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
All Modes
common_
TMonly
B.3 Parameter Table
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 451
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o2: Digital Operator Keypad Functions
o3: Copy Function
o4: Maintenance Monitor Settings
No. (Addr.) Name Description Setting Page
o2-01
(505H)
LO/RE Key Function Selection
0: Disabled
1: Enabled. LO/RE key switches between LOCAL and REMOTE operation.
Default: 1
Min: 0
Max: 1
288
o2-02
(506H)
STOP Key Function Selection
0: Disabled. STOP key is disabled in REMOTE operation.
1: Enabled. STOP key is always enabled.
Default: 1
Min: 0
Max: 1
289
o2-03
(507H)
User Parameter Default Value 0: No change.
1: Set defaults. Saves parameter settings as default values for a User Initialization.
2: Clear all. Clears the default settings that have been saved for a User Initialization.
Default: 0
Min: 0
Max: 2
289
o2-04
(508H)
Drive Model Selection
Enter the drive model. Setting required only if installing a new control board.
Default: Determined by
drive capacity
Min:
Max:
289
o2-05
(509H)
Frequency Reference Setting
Method Selection
0: ENTER key must be pressed to enter a frequency reference.
1: ENTER key is not required. The frequency reference can be adjusted using the up and down
arrow keys only.
Default: 0
Min: 0
Max: 1
289
o2-06
(50AH)
Operation Selection when Digital
Operator is Disconnected 0: The drive continues operating if the digital operator is disconnected.
1: A fault is triggered (oPr) and the motor coasts to stop.
Default: 0
Min: 0
Max: 1
290
o2-07
(527H)
Motor Direction at Power Up when
Using Operator
0: Forward
1: Reverse
This parameter requires that drive operation be assigned to the digital operator.
Default: 0
Min: 0
Max: 1
290
o2-09
(50DH)
Reserved
No. (Addr.) Name Description Setting Page
o3-01
(515H)
Copy Function Selection
0: No action
1: Read parameters from the drive, saving them onto the digital operator.
2: Copy parameters from the digital operator, writing them to the drive.
3: Verify parameter settings on the drive to check if they match the data saved on the operator.
Default: 0
Min: 0
Max: 3
290
o3-02
(516H)
Copy Allowed Selection
0: Read operation prohibited
1: Read operation allowed
Default: 0
Min: 0
Max: 1
290
No. (Addr.) Name Description Setting Page
o4-01
(50BH)
Cumulative Operation Time
Setting
Sets the value for the cumulative operation time of the drive in units of 10 h.
Default: 0 h
Min: 0 h
Max: 9999 h
291
o4-02
(50CH)
Cumulative Operation Time
Selection 0: Logs power-on time
1: Logs operation time when the drive output is active (output operation time).
Default: 0
Min: 0
Max: 1
291
o4-03
(50EH)
Cooling Fan Operation Time
Setting
Sets the value of the fan operation time monitor U4-03 in units of 10 h.
Default: 0 h
Min: 0 h
Max: 9999 h
291
o4-05
(51DH)
Capacitor Maintenance Setting
Sets the value of the Maintenance Monitor for the capacitors. See U4-05 to check when the
capacitors may need to be replaced.
Default: 0%
Min: 0%
Max: 150%
291
o4-07
(523H)
DC Bus Pre-Charge Relay
Maintenance Setting Sets the value of the Maintenance Monitor for the soft charge bypass relay. See U4-06 to check
when the bypass relay may need to be replaced.
Default: 0%
Min: 0%
Max: 150%
291
o4-09
(525H)
IGBT Maintenance Setting
Sets the value of the Maintenance Monitor for the IGBTs. See U4-07 to check when the IGBTs
may need to be replaced.
Default: 0%
Min: 0%
Max: 150%
292
o4-11
(510H)
U2, U3 Initialization
0: U2- and U3- monitor data is not reset when the drive is initialized (A1-03).
1: U2- and U3- monitor data is reset when the drive is initialized (A1-03).
Default: 0
Min: 0
Max: 1
292
All Modes
common_
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All Modes
common_
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All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
B.3 Parameter Table
452 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
q: DriveWorksEZ Parameters
r: DriveWorksEZ Connection Parameters
T: Motor Tuning
Enter data into the following parameters to tune the motor and drive for optimal performance
T1: Induction Motor Auto-Tuning
o4-12
(512H)
kWh Monitor Initialization
0: U4-10 and U4-11 monitor data is not reset when the drive is initialized (A1-03).
1: U4-10 and U4-11 monitor data is reset when the drive is initialized (A1-03).
Default: 0
Min: 0
Max: 1
292
o4-13
(528H)
Number of Run Commands
Counter Initialization 0: Number of Run commands counter is not reset when the drive is initialized (A1-03).
1: Number of Run commands counter is reset when the drive is initialized (A1-03).
Default: 0
Min: 0
Max: 1
292
No. (Addr.) Name Description Setting Page
q1-01 to q6-07
(1600H to
1746H)
DriveWorksEZ Parameters
Reserved for DriveWorksEZ
Refer to Help in the
DWEZ software.
292
No. (Addr.) Name Description Setting Page
r1-01 to
r1-40
(1840H to
1867H)
DriveWorksEZ Connection
Parameters 1 to 20 (upper/lower)
DriveWorksEZ Connection Parameters 1 to 20 (upper/lower)
Default: 0
Min: 0
Max: FFFFH
292
No. (Addr.) Name Description Setting Page
T1-00
(700H)
Motor 1 / Motor 2 Selection
1: Motor 1 (sets E1-, E2-)
2: Motor 2 (sets E3-, E4-)
Default: 1
Min: 1
Max: 2
119
T1-01
(701H)
<37>
Auto-Tuning Mode Selection
0: Rotational Auto-Tuning
1: Stationary Auto-Tuning 1
2: Stationary Auto-Tuning for Line-to-Line Resistance
3: Rotational Auto-Tuning for V/f Control (necessary for Energy Savings and Speed Estimation
Speed Search)
4: Stationary Auto-Tuning 2
8: Inertia Tuning (perform Rotational Auto-Tuning prior to Inertia Tuning)
9: ASR Gain Tuning (perform Rotational Auto-Tuning prior to ASR Gain Auto-Tuning)
Default: 0
Min: 0
Max: 4, 8, 9 <10>
119
T1-02
(702H)
Motor Rated Power
Sets the motor rated power as specified on the motor nameplate.
Note: Use the following formula to convert horsepower into kilowatts: kW = HP x 0.746.
Default: <6>
Min: 0.00 kW
Max: 650.00 kW
119
T1-03
(703H)
<18>
Motor Rated Voltage
Sets the motor rated voltage as specified on the motor nameplate.
Default: 200.0 V
Min: 0.0 V
Max: 255.0 V
119
T1-04
(704H)
Motor Rated Current
Sets the motor rated current as specified on the motor nameplate.
Default: <6>
Min: 10% of drive rated
current
Max: 200% of drive
rated current
120
T1-05
(705H)
Motor Base Frequency
Sets the rated frequency of the motor as specified on the motor nameplate.
Default: <46>
Min: 0.0 Hz
Max: 400.0 Hz
120
T1-06
(706H)
Number of Motor Poles
Sets the number of motor poles as specified on the motor nameplate.
Default: 4
Min: 2
Max: 48
120
T1-07
(707H)
Motor Base Speed
Sets the rated speed of the motor as specified on the motor nameplate.
Default: <47>
Min: 0 r/min
Max: 24000 r/min
120
No. (Addr.) Name Description Setting Page
All Modes
common_
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All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
B.3 Parameter Table
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 453
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T2: PM Motor Auto-Tuning
T1-08
(708H)
PG Number of Pulses Per
Revolution
Set the number of pulses per revolution for the PG being used (pulse generator or encoder).
Default: <45>
Min: 0 ppr
Max: 60000 ppr
120
T1-09
(709H)
Motor No-Load Current
(Stationary Auto-Tuning)
Sets the no-load current for the motor.
After setting the motor capacity to T1-02 and the motor rated current to T1-04, this parameter
will automatically display the no-load current for a standard 4 pole Yaskawa motor. Enter the
no-load current as indicated on the motor test report.
Default:
Min: 0 A
Max: T1-04
120
T1-10
(70AH)
Motor Rated Slip
(Stationary Auto-Tuning)
Sets the motor rated slip.
After setting the motor capacity to T1-02, this parameter will automatically display the motor
slip for a standard 4 pole Yaskawa motor. Enter the motor slip as indicated on the motor test
report.
Default:
Min: 0.00 Hz
Max: 20.00 Hz
121
T1-11
(70BH)
Motor Iron Loss
Sets the iron loss for determining the Energy Saving coefficient.
The value is set to E2-10 (motor iron loss) set when the power is cycled. If T1-02 is changed, a
default value appropriate for the motor capacity that was entered will appear.
Default: 14 W<38>
Min: 0 W
Max: 65535 W
121
<6> Default setting value varies by the drive model (o2-04).
<10> Default setting is determined by the control mode (A1-02).
<18> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
<37> The availability of certain Auto-Tuning methods depends on the control mode selected for the drive.
<38> Default setting value differs depending on the motor code value and motor parameter settings.
<45> Regional default settings
Setting 600 ppr: Japan (Model code: CIMR-AAA) and Asia (Model code: CIMR-ATA)
Setting 1024 ppr: China (Model code: CIMR-ABA)
<46> Regional default settings
Setting 60.0 Hz: Japan (Model code: CIMR-AAA) and Asia (Model code: CIMR-ATA)
Setting 50.0 Hz: China (Model code: CIMR-ABA)
<47> Regional default settings
Setting 1750 r/min: Japan (Model code: CIMR-AAA) and Asia (Model code: CIMR-ATA)
Setting 1450 r/min: China (Model code: CIMR-ABA)
No. (Addr.) Name Description Setting Page
T2-01
(750H)
PM Motor Auto-Tuning Mode
Selection
0: PM Motor Parameter Settings
1: PM Stationary Auto-Tuning
2: PM Stationary Auto-Tuning for Stator Resistance
3: Z Pulse Offset Tuning
8: Inertia Tuning
9: ASR Gain Auto-Tuning
Prior to executing Inertia Tuning or ASR Gain Auto-Tuning, be sure to take the following steps:
perform Auto-Tuning for motor data (T2-01 = 0, 1, or 2) or set the motor code to E5-01.
verify all motor data entered to the drive with the motor nameplate or the motor test report.
Default: 0
Min: 0
Max: 3, 8, 9 <10>
121
T2-02
(751H)
PM Motor Code Selection
Enter the motor code when using a Yaskawa PM motor. Once the motor code is entered, the
drive automatically sets parameters T2-03 through T2-14. When using a motor that is not
supported motor code or a non-Yaskawa motor, set FFFF here and then adjust the other T2
parameters according the motor nameplate or the motor test report.
Default: <16>
Min: 0000
Max: FFFF
121
T2-03
(752H)
PM Motor Type
0: IPM motor
1: SPM motor. Parameter T2-17 will not be displayed with this setting.
Default: 1
Min: 0
Max: 1
121
T2-04
(730H)
PM Motor Rated Power
Sets the motor rated power.
Note: Use the following formula to convert horsepower into kilowatts: kW = HP x 0.746.
Default: <6>
Min: 0.00 kW
Max: 650.00 kW
122
T2-05
(732H)
<18>
PM Motor Rated Voltage
Enter the motor rated voltage as indicated on the motor nameplate.
Default: 200.0 V
Min: 0.0 V
Max: 255.0 V
122
No. (Addr.) Name Description Setting Page
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
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OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
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B.3 Parameter Table
454 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
T3: ASR and Inertia Tuning
T2-06
(733H)
PM Motor Rated Current
Enter the motor rated current as indicated on the motor nameplate.
Default: <6>
Min: 10% of drive rated
current
Max: 200% of drive
rated current
122
T2-07
(753H)
PM Motor Base Frequency
Enter the motor base frequency as indicated on the motor nameplate.
Default: 87.5 Hz
Min: 0.0 Hz
Max: 400.0 Hz
122
T2-08
(734H)
Number of PM Motor Poles
Enter the number of motor poles for the PM motor as indicated on the motor nameplate.
Default: 6
Min: 2
Max: 48
122
T2-09
(731H)
PM Motor Base Speed
Enter the base speed for the PM motor as indicated on the motor nameplate.
Default: 1750 r/min
Min: 0 r/min
Max: 24000 r/min
122
T2-10
(754H)
PM Motor Stator Resistance
Enter the rotor resistance for the PM motor as indicated on the motor nameplate.
Default: <39>
Min: 0.000
Max: 65.000
122
T2-11
(735H)
PM Motor d-Axis Inductance
Enter the d-axis inductance for the PM motor as indicated on the motor nameplate.
Default: <39>
Min: 0.00 mH
Max: 600.00 mH
122
T2-12
(736H)
PM Motor q-Axis Inductance
Enter the q-axis inductance for the PM motor as indicated on the motor nameplate.
Default: <39>
Min: 0.00 mH
Max: 600.00 mH
123
T2-13
(755H)
Induced Voltage Constant Unit
Selection
0: mV/(r/min). E5-09 will automatically be set to 0.0, and E5-24 will be used.
1: mV/(rad/sec). E5-24 will automatically be set to 0.0, and E5-09 will be used
Default: 1
Min: 0
Max: 1
123
T2-14
(737H)
PM Motor Induced Voltage
Constant
Enter the induced voltage coefficient for the PM motor as indicated on the motor nameplate.
Default: <39>
Min: 0.1
Max: 2000.0
123
T2-15
(756H)
Pull-In Current Level for PM
Motor Tuning
Sets the amount of pull-in current to use for Auto-Tuning as a percentage of the motor rated
current. Increase this setting for high inertia loads.
Default: 30%
Min: 0%
Max: 120%
123
T2-16
(738H)
PG Number of Pulses Per
Revolution for PM Motor Tuning
Sets the number of pulses per revolution for the PG being used (pulse generator or encoder).
Default: 1024 ppr
Min: 1 ppr
Max: 15000 ppr
123
T2-17
(757H)
Encoder Z-Pulse Offset
Sets the offset between encoder offset and the rotor magnetic axis.
Default: 0.0 deg
Min: -180.0 deg
Max: 180.0 deg
123
<6> Default setting value varies by the drive model (o2-04).
<10> Default setting is determined by the control mode (A1-02).
<16> Default setting is determined by the control mode (A1-02) and the drive model (o2-04).
<18> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
<39> Default setting is determined by the drive capacity and the motor code selected in T2-02.
No. (Addr.) Name Description Setting Page
T3-01
(760H)
<40>
Test Signal Frequency
Sets the frequency of the test signal used during Inertia Tuning and ASR Gain Auto-Tuning.
Reduce this value if the inertia is large or if a fault occurs.
Default: 3.0 Hz
Min: 0.1 Hz
Max: 20.0 Hz
124
T3-02
(761H)
<40>
Test Signal Amplitude
Sets the amplitude of the test signal used during Inertia and ASR Gain Auto-Tuning. Reduce
this value if the inertia is too large or if a fault occurs.
Default: 0.5 rad
Min: 0.1 rad
Max: 10.0 rad
124
T3-03
(762H)
<40>
Motor Inertia
Sets the motor inertia. Default setting is the inertia of a Yaskawa motor.
Default: <9> <14>
Min: 0.0001 kgm
2
Max: 600.00 kgm
2
124
No. (Addr.) Name Description Setting Page
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
B.3 Parameter Table
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 455
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U: Monitors
Monitor parameters allow the user to view drive status, fault information, and other data concerning drive operation.
U1: Operation Status Monitors
T3-04
(763H)
<40>
System Response Frequency
Sets the response frequency of the mechanical system connected to the motor. Oscillation may
result if set too high.
Default: 10.0 Hz
Min: 0.1 Hz
Max: 50.0 Hz
124
<9> Default setting value is dependent on the drive model (o2-04) and the Drive Duty (C6-01).
<14> Default setting value is dependent on the motor code set to E5-01.
<40> Displayed only when performing Inertia Tuning or ASR Gain Auto-Tuning (T1-01 = 9 or T2-01 = 9).
No. (Addr.) Name Description
Analog Output
Level
Unit Page
U1-01
(40H)
Frequency Reference
Monitors the frequency reference. Display units are determined by o1-03.
10 V: Max frequency 0.01 Hz
U1-02
(41H)
Output Frequency
Displays the output frequency. Display units are determined by o1-03.
10 V: Max frequency 0.01 Hz
U1-03
(42H)
Output Current
Displays the output current.
10 V: Drive rated
current
<19> <50>
U1-04
(43H)
Control Method
0: V/f Control
1: V/f Control with PG
2: Open Loop Vector Control
3: Closed Loop Vector Control
5: Open Loop Vector Control for PM
6: Advanced Open Loop Vector Control for PM
7: Closed Loop Vector Control for PM
No signal output
available
U1-05
(44H)
Motor Speed
Displays the motor speed feedback. Display units are determined by o1-03.
10 V: Max Frequency 0.01 Hz
U1-06
(45H)
Output Voltage Reference
Displays the output voltage.
10 V: 200 Vrms <18> 0.1 Vac
U1-07
(46H)
DC Bus Voltage
Displays the DC bus voltage.
10 V: 400 V <18> 1 Vdc
U1-08
(47H)
Output Power
Displays the output power (this value is calculated internally).
10 V: Drive rated
power (kW)
<22>
U1-09
(48H)
Torque Reference
Monitors the internal torque reference.
10 V: Motor rated
torque
0.1%
U1-10
(49H)
Input Terminal Status
Displays the input terminal status.
No signal output
available
No. (Addr.) Name Description Setting Page
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
All Modes
common_
TMonly
Digital input 1 (terminal
S1 enabled)
Digital input 2 (terminal
S2 enabled)
Digital input 3 (terminal
S3 enabled)
Digital input 4 (terminal
S4 enabled)
Digital input 5 (terminal
S5 enabled)
Digital input 6 (terminal
S6 enabled)
Digital input 7 (terminal
S7 enabled)
Digital input 8 (terminal
S8 enabled)
YEC_
com-
mon
B.3 Parameter Table
456 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
U1-11
(4AH)
Output Terminal Status
Displays the output terminal status.
No signal output
available
U1-12
(4BH)
Drive Status
Verifies the drive operation status.
No signal output
available
U1-13
(4EH)
Terminal A1 Input Level
Displays the signal level to analog input terminal A1.
10 V: 100% 0.1%
U1-14
(4FH)
Terminal A2 Input Level
Displays the signal level to analog input terminal A2.
10 V: 100% 0.1%
U1-15
(50H)
Terminal A3 Input Level
Displays the signal level to analog input terminal A3.
10 V: 100% 0.1%
U1-16
(53H)
Output Frequency after Soft
Starter
Displays output frequency with ramp time and S-curves. Units determined by o1-03.
10 V: Max frequency 0.01 Hz
U1-17
(58H)
DI-A3 Input Status Displays the reference value input from the DI-A3 option card.
Display will appear in hexadecimal as determined by the digital card input selection in F3-01.
3FFFF: Set (1 bit) + sign (1 bit) + 16 bit
No signal output
available
U1-18
(61H)
oPE Fault Parameter
Displays the parameter number that caused the oPE or Err (EEPROM write error) error.
No signal output
available
U1-19
(66H)
MEMOBUS/Modbus Error
Code
Displays the contents of a MEMOBUS/Modbus error.
No signal output
available
U1-21
(77H)
AI-A3 Terminal V1 Input
Voltage Monitor
Displays the input voltage to terminal V1 on analog input card AI-A3.
10 V: 100% 0.1%
U1-22
(72AH)
AI-A3 Terminal V2 Input
Voltage Monitor
Displays the input voltage to terminal V2 on analog input card AI-A3.
10 V: 100% 0.1%
No. (Addr.) Name Description
Analog Output
Level
Unit Page
All Modes
common_
TMonly
Multi-Function
Digital Output
(terminal M1-M2)
Multi-Function
Photocoupler Output 1
(terminal P1) enabled
Multi-Function
Not Used
Photocoupler Output 2
(terminal P2) enabled
Fault Relay
(terminal MA-MC closed
MA-MC open)
YEC_
com-
mon
All Modes
common_
TMonly
During run
During zero-speed
During REV
During fault reset
signal input
During speed agree
Drive ready
During alarm
detection
During fault detection
YEC_
com-
mon
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
CRC Error
Data Length Error
Not Used
Parity Error
Overrun Error
Framing Error
Timed Out
Not Used
YEC_
com-
mon
All Modes
common_
TMonly
All Modes
common_
TMonly
B.3 Parameter Table
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 457
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U2: Fault Trace
U1-23
(72BH)
AI-A3 Terminal V3 Input
Voltage Monitor
Displays the input voltage to terminal V3 on analog input card AI-A3.
10 V: 100% 0.1%
U1-24
(7DH)
Input Pulse Monitor
Displays the frequency to pulse train input terminal RP.
Determined by H6-02 1 Hz
U1-25
(4DH)
Software Number (Flash)
FLASH ID
No signal output
available
U1-26
(5BH)
Software No. (ROM)
ROM ID
No signal output
available
<18> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
<19> This value's number of decimal places depends on the drive model and the Heavy/Normal duty selection in parameter C6-01. The value will
have two decimal places (0.01 A) if the drive is set for a Maximum Applicable Motor Capacity up to 11 kW (refer to Table A.2 and Table A.3)
and one decimal place (0.1 A) if the set Maximum Applicable Motor Capacity is higher than 11 kW.
<22> The display resolution depends on the rated output power of the drive after the Drive Duty has been set in parameter C6-01. Drives with a
maximum output up to 11 kW will display this value in units of 0.01 kW (two decimal places). Drives with a maximum output greater than 11
kW will display this value in units of 0.1 kW (one decimal place). Refer to Model Number and Nameplate Check on page 31 for details.
<50> When reading the value of this monitor via MEMOBUS/Modbus a value of 8192 is equal to 100% of the drive rated output current.
No. (Addr.) Name Description
Analog Output
Level
Unit Page
U2-01
(80H)
Current Fault
Displays the current fault.
No signal output
available
U2-02
(81H)
Previous Fault
Displays the previous fault.
No signal output
available
U2-03
(82H)
Frequency Reference at
Previous Fault
Displays the frequency reference at the previous fault.
No signal output
available
0.01 Hz
U2-04
(83H)
Output Frequency at Previous
Fault
Displays the output frequency at the previous fault.
No signal output
available
0.01 Hz
U2-05
(84H)
Output Current at Previous
Fault
Displays the output current at the previous fault.
No signal output
available
<19> <50>
U2-06
(85H)
Motor Speed at Previous Fault
Displays the motor speed at the previous fault.
No signal output
available
0.01 Hz
U2-07
(86H)
Output Voltage at Previous
Fault
Displays the output voltage at the previous fault.
No signal output
available
0.1 Vac
U2-08
(87H)
DC Bus Voltage at Previous
Fault
Displays the DC bus voltage at the previous fault.
No signal output
available
1 Vdc
U2-09
(88H)
Output Power at Previous
Fault
Displays the output power at the previous fault.
No signal output
available
0.1 kW
U2-10
(89H)
Torque Reference at Previous
Fault
Displays the torque reference at the previous fault.
No signal output
available
0.1%
U2-11
(8AH)
Input Terminal Status at
Previous Fault
Displays the input terminal status at the previous fault. Displayed as in U1-10.
No signal output
available
U2-12
(8BH)
Output Terminal Status at
Previous Fault
Displays the output status at the previous fault. Displays the same status displayed in U1-11.
No signal output
available
U2-13
(8CH)
Drive Operation Status at
Previous Fault Displays the operation status of the drive at the previous fault. Displays the same status
displayed in U1-12.
No signal output
available
U2-14
(8DH)
Cumulative Operation Time at
Previous Fault
Displays the cumulative operation time at the previous fault.
No signal output
available
1 h
U2-15
(7E0H)
Soft Starter Speed Reference at
Previous Fault
Displays the speed reference for the soft starter at the previous fault.
No signal output
available
0.01 Hz
U2-16
(7E1H)
Motor q-Axis Current at
Previous Fault
Displays the q-axis current for the motor at the previous fault.
No signal output
available
0.10%
No. (Addr.) Name Description
Analog Output
Level
Unit Page
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
B.3 Parameter Table
458 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
U3: Fault History
U4: Maintenance Monitors
U2-17
(7E2H)
Motor d-Axis Current at
Previous Fault
Displays the d-axis current for the motor at the previous fault.
No signal output
available
0.10%
U2-19
(7ECH)
Rotor Deviation at Previous
Fault
Displays the degree of rotor deviation when the most recent fault occurred (same status will
appear as shown in U6-10).
No signal output
available
0.1 deg
U2-20
(8EH)
Heatsink Temperature at
Previous Fault
Displays the temperature of the heatsink when the most recent fault occurred.
No signal output
available
1C
<19> This value's number of decimal places depends on the drive model and the Heavy/Normal duty selection in parameter C6-01. The value will
have two decimal places (0.01 A) if the drive is set for a Maximum Applicable Motor Capacity up to 11 kW (refer to Table A.2 and Table A.3)
and one decimal place (0.1 A) if the set Maximum Applicable Motor Capacity is higher than 11 kW.
<50> When reading the value of this monitor via MEMOBUS/Modbus a value of 8192 is equal to 100% of the drive rated output current.
No. (Addr.) Name Description
Analog Output
Level
Unit Page
U3-01 to
U3-04
(90H to 93H
(800H to
803H))
First to 4th Most Recent Fault
Displays the first to the fourth most recent faults.
No signal output
available
U3-05 to
U3-10
(804H to
809H)
5th to 10th Most Recent Fault
Displays the fifth to the tenth most recent faults.
After ten faults have occurred in the drive, data for the oldest fault is deleted. The most recent
fault appears in U3-01, with the next most recent fault appearing in U3-02. The data is moved to
the next monitor parameter every time a fault occurs.
No signal output
available
U3-11 to
U3-14
(94H to 97H
(80AH to
80DH))
Cumulative Operation Time at
1st to 4th Most Recent Fault
Displays the cumulative operation time when the first to the fourth most recent faults occurred.
No signal output
available
1 h
U3-15 to
U3-20
(80EH to
813H)
Cumulative Operation Time at
5th to 10th Most Recent Fault
Displays the cumulative operation time when the fifth to the tenth most recent faults occurred.
No signal output
available
1 h
No. (Addr.) Name Description
Analog Output
Level
Unit Page
U4-01
(4CH)
Cumulative Operation Time
Displays the cumulative operation time of the drive. The value for the cumulative operation
time counter can be reset in parameter o4-01. Use parameter o4-02 to determine if the operation
time should start as soon as the power is switched on or only while the Run command is present.
The maximum number displayed is 99999, after which the value is reset to 0.
No signal output
available
1 h
U4-02
(75H)
Number of Run Commands
Displays the number of times the Run command is entered. Reset the number of Run commands
using parameter o4-13. This value will reset to 0 and start counting again after reaching 65535.
No signal output
available
1 Time
U4-03
(67H)
Cooling Fan Operation Time Displays the cumulative operation time of the cooling fan. The default value for the fan
operation time is reset in parameter o4-03. This value will reset to 0 and start counting again
after reaching 99999.
No signal output
available
1 h
U4-04
(7EH)
Cooling Fan Maintenance
Displays main cooling fan usage time in as a percentage of its expected performance life.
Parameter o4-03 can be used to reset this monitor.
No signal output
available
1%
U4-05
(7CH)
Capacitor Maintenance
Displays main circuit capacitor usage time in as a percentage of their expected performance life.
Parameter o4-05 can be used to reset this monitor.
No signal output
available
1%
U4-06
(7D6H)
Soft Charge Bypass Relay
Maintenance Displays the soft charge bypass relay maintenance time as a percentage of its estimated
performance life. Parameter o4-07 can be used to reset this monitor.
No signal output
available
1%
U4-07
(7D7H)
IGBT Maintenance
Displays IGBT usage time as a percentage of the expected performance life. Parameter o4-09
can be used to reset this monitor.
No signal output
available
1%
U4-08
(68H)
Heatsink Temperature
Displays the heatsink temperature.
10 V: 100C 1C
No. (Addr.) Name Description
Analog Output
Level
Unit Page
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
B.3 Parameter Table
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 459
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U4-09
(5EH)
LED Check
Lights all segments of the LED to verify that the display is working properly.
No signal output
available
U4-10
(5CH)
kWh, Lower 4 Digits
Monitors the drive output power. The value is shown as a 9 digit number displayed across two
monitor parameters, U4-10 and U4-11.
Example:
12345678.9 kWh is displayed as:
U4-10: 678.9 kWh
U4-11: 12345 MWh
No signal output
available
1 kWh
U4-11
(5DH)
kWh, Upper 5 Digits
No signal output
available
1 MWh
U4-13
(7CFH)
Peak Hold Current
Displays the highest current value that occurred during run.
No signal output
available
0.01 A
<50>
U4-14
(7D0H)
Peak Hold Output Frequency
Displays the output frequency when the current value shown in U4-13 occurred.
No signal output
available
0.01 Hz
U4-16
(7D8H)
Motor Overload Estimate
(oL1) Shows the value of the motor overload detection accumulator. 100% is equal to the oL1
detection level.
10 V: 100% 0.1%
U4-18
(7DAH)
Frequency Reference Source
Selection
Displays the source for the frequency reference as XY-nn.
X: indicates which reference is used:
1 = Reference 1 (b1-01)
2 = Reference 2 (b1-15)
Y-nn: indicates the reference source
0-01 = Digital operator
1-01 = Analog (terminal A1)
1-02 = Analog (terminal A2)
1-03 = Analog (terminal A3)
2-02 to 17 = Multi-step speed (d1-02 to 17)
3-01 = MEMOBUS/Modbus communications
4-01 = Communication option card
5-01 = Pulse input
7-01 = DWEZ
No signal output
available
U4-19
(7DBH)
Frequency Reference from
MEMOBUS/Modbus Comm.
Displays the frequency reference provided by MEMOBUS/Modbus (decimal).
No signal output
available
0.01%
U4-20
(7DCH)
Option Frequency Reference
Displays the frequency reference input by an option card (decimal).
No signal output
available
U4-21
(7DDH)
Run Command Source
Selection
Displays the source for the Run command as XY-nn.
X: Indicates which Run source is used:
1 = Reference 1 (b1-02)
2 = Reference 2 (b1-16)
Y: Input power supply data
0 = Digital operator
1 = External terminals
3 = MEMOBUS/Modbus communications
4 = Communication option card
7 = DWEZ
nn: Run command limit status data
00: No limit status.
01: Run command was left on when stopped in the PRG mode
02: Run command was left on when switching from LOCAL to REMOTE operation
03: Waiting for soft charge bypass contactor after power up (Uv or Uv1 flashes after 10 s)
04: Waiting for Run command prohibited time period to end
05: Fast Stop (digital input, digital operator)
06: b1-17 (Run command given at power-up)
07: During baseblock while coast to stop with timer
08: Frequency reference is below minimal reference during baseblock
09: Waiting for Enter command
No signal output
available
U4-22
(7DEH)
MEMOBUS/Modbus
Communications Reference Displays the drive control data set by MEMOBUS/Modbus communications register no. 0001H
as a four-digit hexadecimal number.
No signal output
available
U4-23
(7DFH)
Communication Option Card
Reference
Displays drive control data set by an option card as a four-digit hexadecimal number.
No signal output
available
<50> When reading the value of this monitor via MEMOBUS/Modbus a value of 8192 is equal to 100% of the drive rated output current.
No. (Addr.) Name Description
Analog Output
Level
Unit Page
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
B.3 Parameter Table
460 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
U5: PID Monitors
U6: Operation Status Monitors
No. (Addr.) Name Description
Analog Output
Level
Unit Page
U5-01
(57H)
PID Feedback
Displays the PID feedback value.
10 V: 100% 0.01%
U5-02
(63H)
PID Input
Displays the amount of PID input (deviation between PID setpoint and feedback).
10 V: 100% 0.01%
U5-03
(64H)
PID Output
Displays PID control output.
10 V: 100% 0.01%
U5-04
(65H)
PID Setpoint
Displays the PID setpoint.
10 V: 100% 0.01%
U5-05
(7D2H)
PID Differential Feedback
Displays the 2nd PID feedback value if differential feedback is used (H3- = 16).
10 V: 100% 0.01%
U5-06
(7D3H)
PID Adjusted Feedback
Displays the difference of both feedback values if differential feedback is used (U5-01 - U5-05).
If differential feedback is not used, then U5-01 and U5-06 will be the same.
10 V: 100% 0.01%
No. (Addr.) Name Description
Analog Output
Level
Unit Page
U6-01
(51H)
Motor Secondary Current (Iq)
Displays the value of the motor secondary current (Iq). Motor rated secondary current is 100%.
10 V: Motor
secondary rated
current
0.1%
U6-02
(52H)
Motor Excitation Current (Id)
Displays the value calculated for the motor excitation current (Id). Motor rated secondary
current is 100%.
10 V: Motor
secondary rated
current
0.1%
U6-03
(54H)
ASR Input
Displays the input and output values when using ASR control.
10 V: Max frequency
0.01%
U6-04
(55H)
ASR Output
10 V: Motor
secondary rated
current
U6-05
(59H)
Output Voltage Reference (Vq)
Output voltage reference (Vq) for the q-axis.
10 V: 200 Vrms <18> 0.1 Vac
U6-06
(5AH)
Output Voltage Reference (Vd)
Output voltage reference (Vd) for the d-axis.
10 V: 200 Vrms <18> 0.1 Vac
U6-07
(5FH)
q-Axis ACR Output
Displays the output value for current control relative to motor secondary current (q-axis).
10 V: 200 Vrms <18> 0.1%
U6-08
(60H)
d-Axis ACR Output
Displays the output value for current control relative to motor secondary current (d-axis).
10 V: 200 Vrms <18> 0.1%
U6-09
(7C0H)
Advance Phase Compensation
( )
Displays the degree of forward phase correction after calculating the deviation of cmp.
10 V: 180 deg
10 V: 180 deg
0.1 deg
U6-10
(7C1H)
Control Axis Deviation ()
Displays the amount of deviation between the actual d-axis / q-axis and the -axis / -axis used
for motor control.
10 V: 180 deg
10 V: 180 deg
0.1 deg
U6-13
(7CAH)
Flux Position Detection
(sensor)
Monitors the value of the flux position detection (sensor).
10 V: 180 deg
10 V: 180 deg
0.1 deg
U6-14
(7CBH)
Flux Position Estimation
(observer)
Monitors the value of the flux position estimation.
10 V: 180 deg
10 V: 180 deg
0.1 deg
U6-18
(7CDH)
Speed Detection PG1 Counter
Monitors the number of pulses for speed detection (PG1).
10 V: 65536 1 pulse
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
All Modes
common_
TMonly
B.3 Parameter Table
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 461
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U8: DriveWorksEZ Monitors
U6-19
(7E5H)
Speed Detection PG2 Counter
Monitors the number of pulses for speed detection (PG2).
10 V: 65536 1 pulse
U6-20
(7D4H)
Frequency Reference Bias
(Up/Down 2)
Displays the bias value used to adjust the frequency reference.
10 V: Max frequency 0.1%
U6-21
(7D5H)
Offset Frequency
Displays the frequency added to the main frequency reference.
0.1%
U6-22
(62H)
Zero Servo Pulse Movement
Displays how far the rotor has moved from its last position in PG pulses (multiplied by 4).
10 V: No. of pulses
per revolution
1
U6-25
(6BH)
Feedback Control Output
Output monitor for the ASR speed loop.
10 V: Motor
secondary rated
current
0.01%
U6-26
(6CH)
Feed Forward Control Output
Output monitor for Feed Forward control.
10 V: Motor
secondary rated
current
0.01%
<18> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
No. (Addr.) Name Description
Analog Output
Level
Unit Page
U8-01 to
U8-10
(1950H to
1959H)
DriveWorksEZ Custom
Monitor 1 to 10
DriveWorksEZ Custom Monitor 1 to 10
10 V: 100% 0.01%
U8-11 to
U8-13
(195AH to
195CH)
DriveWorksEZ Version
Control Monitor 1 to 3
DriveWorksEZ Version Control Monitor 1 to 3
No signal output
available
No. (Addr.) Name Description
Analog Output
Level
Unit Page
All Modes
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
OLV/PM AOLV/PM
CLV V/f w/PG
CLV/PM
V/f OLV
common_
TMonly
All Modes
common_
TMonly
All Modes
common_
TMonly
462 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
B.4 Control Mode Dependent Parameter Default Values
B.4 Control Mode Dependent Parameter Default Values
The tables below list parameters that depend on the control mode selection (A1-02 for motor 1, E3-01 for motor 2).
These parameters are initialized to the shown values if the control mode is changed.
A1-02 (Motor 1 Control Mode) Dependent Parameters
Table B.2 A1-02 (Motor 1 Control Mode) Dependent Parameters and Default Values
No. Name Setting Range Resolution
Control Modes (A1-02)
V/f (0) V/f w/PG (1) OLV (2) CLV (3)
b2-01 DC Injection Braking Start Frequency 0.0 to 10.0 0.1 0.5 Hz 0.5 Hz 0.5 Hz 0.5 Hz
b2-04
<9> Default setting is determined by the drive model (o2-04) and duty selection (C6-01).
<18> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
<44> The default value shown here is for the following localized drives: Japan (Model code: CIMR-AAA), Asia (Model code: CIMR-
ATA). For default value of China localized drive (Model code: CIMR-ABA), refer to Default Values of the China Localized
Drive: CIMR-ABA on page 465.
DC Injection Braking Time at Stop 0.00 to 10.00 0.01 s 0.50 0.50 0.50 0.50
b3-01 Speed Search Selection at Start 0 to 1 0 1 0 1
b3-02 Speed Search Deactivation Current 0 to 200 1% 120 100
b3-14 Bi-Directional Speed Search Selection 0 to 1 1 1 0 1 1
b8-01 Energy Saving Control Selection 0 to 1 0 0 0 0
b8-02 Energy Saving Gain 0.0 to 10.0 0.1 0.7 1.0
b8-03 Energy Saving Control Filter Time Constant 0.00 to 10.00 0.01 s
0.50,
2.00
(Motor
Capacity:
55 kW and
above)
0.01,
0.05
(Motor
Capacity:
55 kW and
above)
C2-01 S-Curve Time at Acceleration Start 0.00 to 10.00 0.01 s 0.20 0.20 0.20 0.20
C3-01 Slip Compensation Gain 0.0 to 2.5 0.1 0.0 1.0 1.0
C3-02 Slip Compensation Primary Delay Time 0 to 10000 1 ms 2000 200
C4-01 Torque Compensation Gain 0.00 to 2.50 0.01 1.00 1.00 1.00
C4-02 Torque Compensation Primary Delay Time 0 to 10000 1 ms 200 200 20
C5-01 ASR Proportional Gain 1 0.00 to 300.00 0.01 0.20 20.00
C5-02 ASR Integral Time 1 0.000 to 10.000 0.001 s 0.200 0.500
C5-03 ASR Proportional Gain 2 0.00 to 300.00 0.01 0.02 20.00
C5-04 ASR Integral Time 2 0.000 to 10.000 0.001 s 0.050 0.500
C5-06 ASR Primary Delay Time Constant 0.000 to 0.500 0.001 s 0.004
C6-02 Carrier Frequency Selection 1 to F 7 <9> 7 <9> 7 <9> 7 <9>
E1-04 Maximum Output Frequency 40.0 to 400.0 0.1 Hz 60.0 <44> 60.0 <44> 60.0 <44> 60.0 <44>
E1-05 Maximum Voltage <18> 0.0 to 255.0 0.1 V 575 575 575 575
E1-06 Base Frequency 0.0 to 400.0 0.1 Hz 60.0 <44> 60.0 <44> 60.0 <44> 60.0 <44>
E1-07 Middle Output Frequency 0.0 to 400.0 0.1 Hz 3.0 <44> 3.0 <44> 3.0 <44> 0.0 <44>
E1-08 Middle Output Frequency Voltage <18> 0.0 to 255.0 0.1 V 15.0 15.0 11.0 0.0
E1-09 Minimum Output Frequency 0.0 to 400.0 0.1 Hz 1.5 <44> 1.5 <44> 0.5 <44> 0.0 <44>
E1-10 Minimum Output Frequency Voltage <18> 0.0 to 255.0 0.1 V 9.0 9.0 2.0 0.0
F1-01 PG 1 Pulses Per Revolution 0 to 60000 1 ppr 600 600 600 600
F1-05 PG 1 Rotation Selection 0 to 1 0 0 0 0
F1-09 Overspeed Detection Delay Time 0.0 to 2.0 0.1 s 1.0 0.0
L1-01 Motor Overload Protection Selection 0 to 4 1 1 1 1
L3-20 DC Bus Voltage Adjustment Gain 0.00 to 5.00 0.01 1.00 1.00 0.30 0.30
L3-21 Accel/Decel Rate Calculation Gain 0.00 to 10.00 0.01 1.00 1.00 1.00 1.00
L4-02 Speed Agreement Detection Width 0.0 to 20.0 0.1 2.0 Hz 2.0 Hz 2.0 Hz 2.0 Hz
L4-04 Speed Agreement Detection Width (+/) 0.0 to 20.0 0.1 2.0 Hz 2.0 Hz 2.0 Hz 2.0 Hz
L8-38 Carrier Frequency Reduction Selection 0 to 2 1 <9> <9> <9> <9>
L8-40 Carrier Frequency Reduction Off Delay Time 0.00 to 2.00 0.01 s 0.50 0.50 0.50 0.50
o1-03 Digital Operator Display Selection 0 to 3 1 0 0 0 0
o1-04 V/f Pattern Display Unit 0 to 1 1 0
B.4 Control Mode Dependent Parameter Default Values
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 463
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Table B.3 A1-02 (Motor 1 Control Mode) Dependent Parameters and Default Values
E3-01 (Motor 2 Control Mode) Dependent Parameters
Table B.4 E3-01 (Motor 2 Control Mode) Dependent Parameters and Default Values
No. Name Setting Range Resolution
Control Modes (A1-02)
OLV/PM (5) AOLV/PM (6) CLV/PM (7)
b2-01 DC Injection Braking Start Frequency 0.0 to 10.0 0.1 0.5 Hz 1.0%<41> 0.5%<41>
b2-04
<14> Default setting value is dependent on the motor code set to parameter E5-01.
<18> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
<41> This default value is a calculated as a percentage of the maximum output frequency.
DC Injection Braking Time at Stop 0.00 to 10.00 0.01 s 0.00 0.00 0.00
b3-01 Speed Search Selection at Start 0 to 1 0 0 1
b3-02 Speed Search Deactivation Current 0 to 200 1%
b3-14 Bi-Directional Speed Search Selection 0 to 1 1 1 1 1
b8-01 Energy Saving Control Selection 0 to 1 1 1
b8-02 Energy Saving Gain 0.0 to 10.0 0.1
b8-03 Energy Saving Control Filter Time Constant 0.00 to 10.00 0.01 s
C2-01 S-Curve Time at Acceleration Start 0.00 to 10.00 0.01 s 1.00 1.00 1.00
C3-01 Slip Compensation Gain 0.0 to 2.5 0.1
C3-02 Slip Compensation Primary Delay Time 0 to 10000 1 ms
C4-01 Torque Compensation Gain 0.00 to 2.50 0.01 0.00 0.00 0.00
C4-02 Torque Compensation Primary Delay Time 0 to 10000 1 ms 100 100 100
C5-01 ASR Proportional Gain 1 0.00 to 300.00 0.01
C5-02 ASR Integral Time 1 0.000 to 10.000 0.001 s
C5-03 ASR Proportional Gain 2 0.00 to 300.00 0.01
C5-04 ASR Integral Time 2 0.000 to 10.000 0.001 s
C5-06 ASR Primary Delay Time Constant 0.000 to 0.500 0.001 s
C6-02 Carrier Frequency Selection 1 to F 2 2 2
E1-04 Maximum Output Frequency 40.0 to 400.0 0.1 Hz <14> <14> <14>
E1-05 Maximum Voltage <18> 0.0 to 377.1 0.1 V <14> <14> <14>
E1-06 Base Frequency 0.0 to 400.0 0.1 Hz <14> <14> <14>
E1-07 Middle Output Frequency 0.0 to 400.0 0.1 Hz
E1-08 Middle Output Frequency Voltage <18> 0.0 to 377.1 0.1 V
E1-09 Minimum Output Frequency 0.0 to 400.0 0.1 Hz <14> <14> <14>
E1-10 Minimum Output Frequency Voltage <18> 0.0 to 377.1 0.1 V
F1-01 PG 1 Pulses Per Revolution 0 to 60000 1 ppr 1024 1024 1024
F1-05 PG 1 Rotation Selection 0 to 1 1 1 1
F1-09 Overspeed Detection Delay Time 0.0 to 2.0 0.1 s
L1-01 Motor Overload Protection Selection 0 to 4 4 4 4
L3-20 DC Bus Voltage Adjustment Gain 0.00 to 5.00 0.01 0.65 0.65 0.65
L3-21 Accel/Decel Rate Calculation Gain 0.00 to 10.00 0.01 2.50 2.50 2.50
L4-02 Speed Agreement Detection Width 0.0 to 20.0 0.1 2.0Hz 4.0%<41> 4.0%<41>
L4-04 Speed Agreement Detection Width (+/) 0.0 to 20.0 0.1 2.0Hz 4.0%<41> 4.0%<41>
L8-38 Carrier Frequency Reduction Selection 0 to 2 1 0 0 0
L8-40 Carrier Frequency Reduction Off Delay Time 0.00 to 2.00 0.01s 0.00 0.00 0.00
o1-03 Digital Operator Display Selection 0 to 3 1 0 1 1
o1-04 V/f Pattern Display Unit 0 to 1 1 1 1
No.
<18> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
<44> The default value shown here is for the following localized drives: Japan (Model code: CIMR-AAA), Asia (Model code: CIMR-
ATA). For default value of China localized drive (Model code: CIMR-ABA), refer to Default Values of the China Localized
Drive: CIMR-ABA on page 465.
Name Setting Range Resolution
Control Modes (E3-01)
V/f (0) V/f w/PG (1) OLV (2) CLV (3)
E3-04 Motor 2 Maximum Output Frequency 40.0 to 400.0 0.1 Hz 60.0 <44> 60.0 <44> 60.0 <44> 60.0 <44>
E3-05 Motor 2 Maximum Output Voltage <18> 0.0 to 255.0 0.1 V 200.0 200.0 200.0 200.0
E3-06 Motor 2 Base Frequency 0.0 to 400.0 0.1 Hz 60.0 <44> 60.0 <44> 60.0 <44> 60.0 <44>
E3-07 Motor 2 Mid Output Frequency 0.0 to 400.0 0.1 Hz 3.0 <44> 3.0 <44> 3.0 <44> 0.0 <44>
E3-08 Motor 2 Mid Output Frequency Voltage <18> 0.0 to 255.0 0.1 V 15.0 15.0 11.0 0.0
E3-09 Motor 2 Minimum Output Frequency 0.0 to 400.0 0.1 Hz 1.5 <44> 1.5 <44> 0.5 <44> 0.0 <44>
E3-10 Motor 2 Minimum Output Voltage <18> 0.0 to 255.0 0.1 V 9.0 9.0 2.0 0.0
464 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
B.5 V/f Pattern Default Values
B.5 V/f Pattern Default Values
The tables below show the V/f pattern settings default values depending on the control mode (A1-02) and the V/f pattern
selection (E1-03 in V/f Control).
Table B.5 E1-03 V/f Pattern Settings for Drive Capacity:
CIMR-A2A0004 to CIMR-A2A0021, CIMR-A4A0002 to CIMR-A4A0011
Table B.6 E1-03 V/f Pattern Settings for Drive Capacity:
CIMR-A2A0030 to CIMR-A2A0211, CIMR-A4A0018 to CIMR-A4A0103
No. Units V/f
OLV CLV
OLV/PM
AOLV/PM
CLV/PM
E1-03 - 0 1 2 3 4 5 6 7 8 9 A B C D E
F
<42>
E1-04
<14> Default setting value is dependent on the motor code set to parameter E5-01.
<18> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
<42> Default settings for E1-04 through E1-10 (E2-04 through E2-10 for motor 2).
<44> The default value shown here is for the following localized drives: Japan (Model code: CIMR-AAA), Asia (Model code: CIMR-ATA).
For default value of China localized drive (Model code: CIMR-ABA), refer to Default Values of the China Localized Drive: CIMR-ABA
on page 465.
Hz 50.0 60.0 60.0 72.0 50.0 50.0 60.0 60.0 50.0 50.0 60.0 60.0 90.0 120.0 180.0
60.0
<44>
60.0 <44> 60.0 <44> <14>
E1-05
<18>
V 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 <14>
E1-06 Hz 50.0 60.0 50.0 60.0 50.0 50.0 60.0 60.0 50.0 50.0 60.0 60.0 60.0 60.0 60.0
60.0
<44>
60.0 <44> 60.0 <44> <14>
E1-07 Hz 2.5 3.0 3.0 3.0 25.0 25.0 30.0 30.0 2.5 2.5 3.0 3.0 3.0 3.0 3.0
3.0
<44>
3.0 <44> 0.0 <44>
E1-08
<18>
V 15.0 15.0 15.0 15.0 35.0 50.0 35.0 50.0 19.0 24.0 19.0 24.0 15.0 15.0 15.0 15.0 11.0 0.0
E1-09 Hz 1.3 1.5 1.5 1.5 1.3 1.3 1.5 1.5 1.3 1.3 1.5 1.5 1.5 1.5 1.5
1.5
<44>
0.5 <44> 0.0 <44> <14>
E1-10
<18>
V 9.0 9.0 9.0 9.0 8.0 9.0 8.0 9.0 11.0 13.0 11.0 15.0 9.0 9.0 9.0 9.0 2.0 0.0
No. Units V/f
OLV CLV
OLV/PM
AOLV/PM
CLV/PM
E1-03 - 0 1 2 3 4 5 6 7 8 9 A B C D E
F
<42>
E1-04
<14> Default setting value is dependent on the motor code set to parameter E5-01.
<18> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
<42> Default settings for E1-04 through E1-10 (E2-04 through E2-10 for motor 2).
<44> The default value shown here is for the following localized drives: Japan (Model code: CIMR-AAA), Asia (Model code: CIMR-ATA).
For default value of China localized drive (Model code: CIMR-ABA), refer to Default Values of the China Localized Drive: CIMR-ABA
on page 465.
Hz 50.0 60.0 60.0 72.0 50.0 50.0 60.0 60.0 50.0 50.0 60.0 60.0 90.0 120.0 180.0
60.0
<44>
60.0 <44> 60.0 <44> <14>
E1-05
<18>
V 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 <14>
E1-06 Hz 50.0 60.0 50.0 60.0 50.0 50.0 60.0 60.0 50.0 50.0 60.0 60.0 60.0 60.0 60.0
60.0
<44>
60.0 <44> 60.0 <44> <14>
E1-07 Hz 2.5 3.0 3.0 3.0 25.0 25.0 30.0 30.0 2.5 2.5 3.0 3.0 3.0 3.0 3.0
3.0
<44>
3.0 <44> 0.0 <44>
E1-08
<18>
V 14.0 14.0 14.0 14.0 35.0 50.0 35.0 50.0 18.0 23.0 18.0 23.0 14.0 14.0 14.0 14.0 11.0 0.0
E1-09 Hz 1.3 1.5 1.5 1.5 1.3 1.3 1.5 1.5 1.3 1.3 1.5 1.5 1.5 1.5 1.5
1.5
<44>
0.5 <44> 0.0 <44> <14>
E1-10
<18>
V 7.0 7.0 7.0 7.0 6.0 7.0 6.0 7.0 9.0 11.0 9.0 13.0 7.0 7.0 7.0 7.0 2.0 0.0
B.5 V/f Pattern Default Values
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 465
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Table B.7 E1-03 V/f Pattern Settings for Drive Capacity:
CIMR-A2A0250 to CIMR-A2A0415, CIMR-A4A0139 to CIMR-A4A0675
Table B.8 Default Values of the China Localized Drive: CIMR-ABA
No. Units V/f
OLV CLV
OLV/PM
AOLV/PM
CLV/PM
E1-03 - 0 1 2 3 4 5 6 7 8 9 A B C D E
F
<42>
E1-04
<14> Default setting value is dependent on the motor code set to parameter E5-01.
<18> Values shown here are for 200 V class drives. Double the value when using a 400 V class drive.
<42> Default settings for E1-04 through E1-10 (E2-04 through E2-10 for motor 2).
<44> The default value shown here is for the following localized drives: Japan (Model code: CIMR-AAA), Asia (Model code: CIMR-ATA).
For default value of China localized drive (Model code: CIMR-ABA), refer to Default Values of the China Localized Drive: CIMR-ABA
on page 465.
Hz 50.0 60.0 60.0 72.0 50.0 50.0 60.0 60.0 50.0 50.0 60.0 60.0 90.0 120.0 180.0
60.0
<44>
60.0 <44> 60.0 <44> <14>
E1-05
<18>
V 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 200.0 <14>
E1-06 Hz 50.0 60.0 50.0 60.0 50.0 50.0 60.0 60.0 50.0 50.0 60.0 60.0 60.0 60.0 60.0
60.0
<44>
60.0 <44> 60.0 <44> <14>
E1-07 Hz 2.5 3.0 3.0 3.0 25.0 25.0 30.0 30.0 2.5 2.5 3.0 3.0 3.0 3.0 3.0
3.0
<44>
3.0 <44> 0.0 <44>
E1-08
<18>
V 12.0 12.0 12.0 12.0 35.0 50.0 35.0 50.0 15.0 20.0 15.0 20.0 12.0 12.0 12.0 12.0 11.0 0.0
E1-09 Hz 1.3 1.5 1.5 1.5 1.3 1.3 1.5 1.5 1.3 1.3 1.5 1.5 1.5 1.5 1.5
1.5
<44>
0.5 <44> 0.0 <44> <14>
E1-10
<18>
V 6.0 6.0 6.0 6.0 5.0 6.0 5.0 6.0 7.0 9.0 7.0 11.0 6.0 6.0 6.0 6.0 2.0 0.0
Parameter Description
Control Mode (A1-02, E3-01)
V/f, V/f w/PG OLV CLV OLV/PM AOLV/PM CLV/PM
E1-04
<33> The setting value is dependent on the setting for the input voltage (E1-01).
Maximum Output Frequency 50.0 Hz 50.0 Hz 50.0 Hz <33> <33> <33>
E1-06 Base Frequency 50.0 Hz 50.0 Hz 50.0 Hz <33> <33> <33>
E1-07 Middle Output Frequency 2.5 Hz 3.0 Hz 0.0 Hz
E1-09 Minimum Output Frequency 1.3 Hz 0.5 Hz 0.0 Hz <33> <33> 0.0 Hz
E3-04 Motor 2 Max Output Frequency 50.0 Hz 50.0 Hz 50.0 Hz
E3-06 Motor 2 Base Frequency 50.0 Hz 50.0 Hz 50.0 Hz
E3-07 Motor 2 Mid Output Frequency 2.5 Hz 3.0 Hz 0.0 Hz
E3-09 Motor 2 Minimum Output Frequency 1.3 Hz 0.5 Hz 0.0 Hz
466 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
B.6 Defaults by Drive Model Selection (o2-04) and ND/HD (C6-01)
B.6 Defaults by Drive Model Selection (o2-04) and ND/HD (C6-01)
The following tables show parameters and default settings that change with the drive model selection (o2-04). Parameter
numbers shown in parenthesis are valid for motor 2.
Table B.9 200 V Class Drives Default Settings by Drive Model Selection and ND/HD settings
No. Name Unit Default Settings
Model CIMR-A 2A0004 2A0006 2A0008 2A0010
C6-01 Drive Duty Selection
HD ND HD ND HD ND HD ND
0 1 0 1 0 1 0 1
o2-04 Drive Model Selection Hex. 62 63 64 65
E2-11 (E4-11) Motor rated Output kW 0.4 0.75 0.75 1.1 1.1 1.5 1.5 2.2
b3-04 V/f Gain during Speed Search % 100 100 100 100 100 100 100 100
b3-06 Output Current 1 during Speed Search 1 1 0.5 0.5 0.5 0.5 0.5 0.5
b8-03 Energy Saving Control Filter Time Constant s 0.50 0.50 0.50 0.50 0.50 0.50 0.50 0.50
b8-04 Energy Saving Coefficient Value 288.2 223.7 223.7 196.6 196.6 169.4 169.4 156.8
C5-17 (C5-37) Motor Inertia kgm
2
0.0015 0.0028 0.0028 0.0068 0.0068 0.0068 0.0068 0.0088
C6-02 Carrier Frequency Selection 1 7 1 7 1 7 1 7
E2-01 (E4-01) Motor Rated Current A 1.9 3.3 3.3 4.9 4.9 6.2 6.2 8.5
E2-02 (E4-02) Motor Rated Slip Hz 2.9 2.5 2.5 2.6 2.6 2.6 2.6 2.9
E2-03 (E4-03) Motor No-Load Current A 1.2 1.8 1.8 2.3 2.3 2.8 2.8 3
E2-05 (E4-05) Motor Line to Line Resistance 9.842 5.156 5.156 3.577 3.577 1.997 1.997 1.601
E2-06 (E4-06) Motor Leakage Inductance % 18.2 13.8 13.8 18.5 18.5 18.5 18.5 18.4
E2-10 (E4-10) Motor Iron Loss for Torque Compensation W 14 26 26 38 38 53 53 77
E5-01 Motor Code Selection Hex. 1202 1202 1203 1203 FFFF FFFF 1205 1205
L2-02 Momentary Power Loss Ride-Thru Time s 0.1 0.1 0.2 0.2 0.3 0.3 0.3 0.3
L2-03 Momentary Power Loss Minimum Baseblock Time s 0.2 0.3 0.3 0.4 0.4 0.4 0.4 0.5
L2-04 Momentary Power Loss Voltage Recovery Time s 0.3 0.3 0.3 0.3 0.3 0.3 0.3 0.3
L3-24 Motor Acceleration Time for Inertia Calculations s 0.178 0.142 0.142 0.142 0.142 0.166 0.166 0.145
L8-02 Overheat Alarm Level C 115 115 115 115 115 115 115 115
L8-35 Installation Method Selection 2 2 2 2 2 2 2 2
L8-38 Carrier Frequency Reduction Selection 2 2 2 2 2 2 2 2
n1-03 Hunting Prevention Time Constant ms 10 10 10 10 10 10 10 10
n5-02 Motor Acceleration Time s 0.178 0.142 0.142 0.142 0.142 0.166 0.166 0.145
No. Name Unit Default Settings
Model CIMR-A 2A0012 2A0018 2A0021 2A0030
C6-01 Drive Duty Selection
HD ND HD ND HD ND HD ND
0 1 0 1 0 1 0 1
o2-04 Drive Model Selection Hex. 66 67 68 6A
E2-11 (E4-11) Motor rated Output kW 2.2 3.0 3.0 3.7 3.7 5.5 5.5 7.5
b3-04 V/f Gain during Speed Search % 100 100 100 100 100 100 100 100
b3-06 Output Current 1 during Speed Search 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5
b8-03 Energy Saving Control Filter Time Constant s 0.50 0.50 0.50 0.50 0.50 0.50 0.50 0.50
b8-04 Energy Saving Coefficient Value 156.8 136.4 136.4 122.9 122.9 94.75 94.75 72.69
C5-17 (C5-37) Motor Inertia kgm
2
0.0088 0.0158 0.0158 0.0158 0.0158 0.0255 0.026 0.037
C6-02 Carrier Frequency Selection 1 7 1 7 1 7 1 7
E2-01 (E4-01) Motor Rated Current A 8.5 11.4 11.4 14 14 19.6 19.6 26.6
E2-02 (E4-02) Motor Rated Slip Hz 2.9 2.7 2.7 2.73 2.73 1.5 1.5 1.3
E2-03 (E4-03) Motor No-Load Current A 3 3.7 3.7 4.5 4.5 5.1 5.1 8
E2-05 (E4-05) Motor Line to Line Resistance 1.601 1.034 1.034 0.771 0.771 0.399 0.399 0.288
E2-06 (E4-06) Motor Leakage Inductance % 18.4 19 19 19.6 19.6 18.2 18.2 15.5
E2-10 (E4-10) Motor Iron Loss for Torque Compensation W 77 91 91 112 112 172 172 262
E5-01 Motor Code Selection Hex. 1206 1206 FFFF FFFF 1208 1208 120A 120A
L2-02 Momentary Power Loss Ride-Thru Time s 0.5 0.5 1 1 1 1 1 1
L2-03 Momentary Power Loss Minimum Baseblock Time s 0.5 0.5 0.5 0.6 0.6 0.7 0.7 0.8
L2-04 Momentary Power Loss Voltage Recovery Time s 0.3 0.3 0.3 0.3 0.3 0.3 0.3 0.3
L3-24 Motor Acceleration Time for Inertia Calculations s 0.145 0.145 0.145 0.154 0.154 0.168 0.168 0.175
L8-02 Overheat Alarm Level C 125 125 110 110 110 110 120 120
L8-35 Installation Method Selection 2 2 2 2 2 2 2 2
L8-38 Carrier Frequency Reduction Selection 2 2 2 2 2 2 2 2
n1-03 Hunting Prevention Time Constant ms 10 10 10 10 10 10 10 10
n5-02 Motor Acceleration Time s 0.145 0.145 0.145 0.154 0.154 0.168 0.168 0.175
B.6 Defaults by Drive Model Selection (o2-04) and ND/HD (C6-01)
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 467
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No. Name Unit Default Settings
Model CIMR-A 2A0040 2A0056 2A0069 2A0081
C6-01 Drive Duty Selection
HD ND HD ND HD ND HD ND
0 1 0 1 0 1 0 1
o2-04 Drive Model Selection Hex. 6B 6D 6E 6F
E2-11 (E4-11) Motor rated Output kW 7.5 11 11 15 15 18.5 18.5 22
b3-04 V/f Gain during Speed Search % 100 100 100 100 100 100 100 100
b3-06 Output Current 1 during Speed Search 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5
b8-03 Energy Saving Control Filter Time Constant s 0.50 0.50 0.50 0.50 0.50 0.50 0.50 0.50
b8-04 Energy Saving Coefficient Value 72.69 70.44 70.44 63.13 63.13 57.87 57.87 51.79
C5-17 (C5-37) Motor Inertia kgm
2
0.037 0.053 0.053 0.076 0.076 0.138 0.138 0.165
C6-02 Carrier Frequency Selection 1 7 1 7 1 7 1 7
E2-01 (E4-01) Motor Rated Current A 26.6 39.7 39.7 53 53 65.8 65.8 77.2
E2-02 (E4-02) Motor Rated Slip Hz 1.3 1.7 1.7 1.6 1.6 1.67 1.67 1.7
E2-03 (E4-03) Motor No-Load Current A 8 11.2 11.2 15.2 15.2 15.7 15.7 18.5
E2-05 (E4-05) Motor Line to Line Resistance 0.288 0.23 0.23 0.138 0.138 0.101 0.101 0.079
E2-06 (E4-06) Motor Leakage Inductance % 15.5 19.5 19.5 17.2 17.2 15.7 20.1 19.5
E2-10 (E4-10) Motor Iron Loss for Torque Compensation W 262 245 245 272 272 505 505 538
E5-01 Motor Code Selection Hex. 120B 120B 120D 120D 120E 120E 120F 120F
L2-02 Momentary Power Loss Ride-Thru Time s 1 1 2 2 2 2 2 2
L2-03 Momentary Power Loss Minimum Baseblock Time s 0.8 0.9 0.9 1 1 1 1 1
L2-04 Momentary Power Loss Voltage Recovery Time s 0.3 0.3 0.3 0.6 0.6 0.6 0.6 0.6
L3-24 Motor Acceleration Time for Inertia Calculations s 0.175 0.265 0.265 0.244 0.244 0.317 0.317 0.355
L8-02 Overheat Alarm Level C 125 125 120 120 120 120 125 125
L8-35 Installation Method Selection 2 2 2 2 2 2 2 2
L8-38 Carrier Frequency Reduction Selection 2 2 2 2 2 2 2 2
n1-03 Hunting Prevention Time Constant ms 10 10 10 10 10 10 10 10
n5-02 Motor Acceleration Time s 0.175 0.265 0.265 0.244 0.244 0.317 0.317 0.355
No. Name Unit Default Settings
Model CIMR-A 2A0110 2A0138 2A0169 2A0211
C6-01 Drive Duty Selection
HD ND HD ND HD ND HD ND
0 1 0 1 0 1 0 1
o2-04 Drive Model Selection Hex. 70 72 73 74
E2-11 (E4-11) Motor rated Output kW 22 30 30 37 37 45 45 55
b3-04 V/f Gain during Speed Search % 100 80 80 80 80 80 80 80
b3-06 Output Current 1 during Speed Search 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5
b8-03 Energy Saving Control Filter Time Constant s 0.50 0.50 0.50 0.50 0.50 0.50 0.50 2.00
b8-04 Energy Saving Coefficient Value 51.79 46.27 46.27 38.16 38.16 35.78 35.78 31.35
C5-17 (C5-37) Motor Inertia kgm
2
0.165 0.220 0.220 0.273 0.273 0.333 0.333 0.490
C6-02 Carrier Frequency Selection 1 7 1 7 1 7 1 7
E2-01 (E4-01) Motor Rated Current A 77.2 105 105 131 131 160 160 190
E2-02 (E4-02) Motor Rated Slip Hz 1.7 1.8 1.8 1.33 1.33 1.6 1.6 1.43
E2-03 (E4-03) Motor No-Load Current A 18.5 21.9 21.9 38.2 38.2 44 44 45.6
E2-05 (E4-05) Motor Line to Line Resistance 0.079 0.064 0.064 0.039 0.039 0.03 0.03 0.022
E2-06 (E4-06) Motor Leakage Inductance % 19.5 20.8 20.8 18.8 18.8 20.2 20.2 20.5
E2-10 (E4-10) Motor Iron Loss for Torque Compensation W 538 699 699 823 823 852 852 960
E5-01 Motor Code Selection Hex. 1210 1210 1212 1212 1213 1213 1214 1214
L2-02 Momentary Power Loss Ride-Thru Time s 2 2 2 2 2 2 2 2
L2-03 Momentary Power Loss Minimum Baseblock Time s 1 1.1 1.1 1.1 1.1 1.2 1.2 1.3
L2-04 Momentary Power Loss Voltage Recovery Time s 0.6 0.6 0.6 0.6 0.6 1 1 1
L3-24 Motor Acceleration Time for Inertia Calculations s 0.355 0.323 0.323 0.32 0.32 0.387 0.387 0.317
L8-02 Overheat Alarm Level C 130 130 130 130 130 130 125 125
L8-35 Installation Method Selection 0 0 0 0 0 0 0 0
L8-38 Carrier Frequency Reduction Selection 2 2 2 2 2 2 2 2
n1-03 Hunting Prevention Time Constant ms 10 10 10 10 10 10 10 10
n5-02 Motor Acceleration Time s 0.355 0.323 0.323 0.32 0.32 0.387 0.387 0.317
B.6 Defaults by Drive Model Selection (o2-04) and ND/HD (C6-01)
468 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Table B.10 400 V Class Drives Default Settings by Drive Capacity and ND/HD Setting
No. Name Unit Default Settings
Model CIMR-A 2A0250 2A0312 2A0360 2A0415
C6-01 Drive Duty Selection
HD ND HD ND HD ND HD ND
0 1 0 1 0 1 0 1
o2-04 Drive Model Selection Hex. 75 76 77 78
E2-11 (E4-11) Motor rated Output kW 55 75 75 90 90 110 110 110
b3-04 V/f Gain during Speed Search % 80 80 80 80 80 80 80 80
b3-06 Output Current 1 during Speed Search 0.5 0.7 0.7 0.7 0.7 0.7 0.7 0.7
b8-03 Energy Saving Control Filter Time Constant s 2.00 2.00 2.00 2.00 2.00 2.00 2.00 2.00
b8-04 Energy Saving Coefficient Value 31.35 23.1 23.1 20.65 20.65 18.12 18.12 18.12
C5-17 (C5-37) Motor Inertia kgm
2
0.49 0.90 0.90 1.10 1.10 1.90 1.90 1.90
C6-02 Carrier Frequency Selection 1 7 1 7 1 7 1 7
E2-01 (E4-01) Motor Rated Current A 190 260 260 260 260 260 260 260
E2-02 (E4-02) Motor Rated Slip Hz 1.43 1.39 1.39 1.39 1.39 1.39 1.39 1.39
E2-03 (E4-03) Motor No-Load Current A 45.6 72 72 72 72 72 72 72
E2-05 (E4-05) Motor Line to Line Resistance 0.022 0.023 0.023 0.023 0.023 0.023 0.023 0.023
E2-06 (E4-06) Motor Leakage Inductance % 20.5 20 20 20 20 20 20 20
E2-10 (E4-10) Motor Iron Loss for Torque Compensation W 960 1200 1200 1200 1200 1200 1200 1200
E5-01 Motor Code Selection Hex. 1215 1215 1216 1216 FFFF FFFF FFFF FFFF
L2-02 Momentary Power Loss Ride-Thru Time s 2 2 2 2 2 2 2 2
L2-03 Momentary Power Loss Minimum Baseblock Time s 1.3 1.5 1.5 1.5 1.5 1.7 1.7 1.7
L2-04 Momentary Power Loss Voltage Recovery Time s 1 1 1 1 1 1 1 1
L3-24 Motor Acceleration Time for Inertia Calculations s 0.317 0.533 0.533 0.592 0.592 0.646 0.646 0.646
L8-02 Overheat Alarm Level C 115 115 120 120 120 120 120 120
L8-35 Installation Method Selection 0 0 0 0 0 0 0 0
L8-38 Carrier Frequency Reduction Selection 2 2 2 2 2 2 2 2
n1-03 Hunting Prevention Time Constant ms 10 10 10 10 100 100 100 100
n5-02 Motor Acceleration Time s 0.317 0.533 0.533 0.592 0.592 0.646 0.646 0.646
No. Name Unit Default Settings
Model CIMR-A 4A0002 4A0004 4A0005 4A0007
C6-01 Drive Duty Selection
HD ND HD ND HD ND HD ND
0 1 0 1 0 1 0 1
o2-04 Drive Model Selection Hex. 92 93 94 95
E2-11 (E4-11) Motor rated Output kW 0.4 0.75 0.75 1.5 1.5 2.2 2.2 3.0
b3-04 V/f Gain during Speed Search % 100 100 100 100 100 100 100 100
b3-06 Output Current 1 during Speed Search 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5
b8-03 Energy Saving Control Filter Time Constant s 0.50 0.50 0.50 0.50 0.50 0.50 0.50 0.50
b8-04 Energy Saving Coefficient Value 576.4 447.4 447.4 338.8 338.8 313.6 313.6 265.7
C5-17 (C5-37) Motor Inertia kgm
2
0.0015 0.0028 0.0028 0.0068 0.0068 0.0088 0.0088 0.0158
C6-02 Carrier Frequency Selection 1 7 1 7 1 7 1 7
E2-01 (E4-01) Motor Rated Current A 1 1.6 1.6 3.1 3.1 4.2 4.2 5.7
E2-02 (E4-02) Motor Rated Slip Hz 2.9 2.6 2.6 2.5 2.5 3 3 2.7
E2-03 (E4-03) Motor No-Load Current A 0.6 0.8 0.8 1.4 1.4 1.5 1.5 1.9
E2-05 (E4-05) Motor Line to Line Resistance 38.198 22.459 22.459 10.1 10.1 6.495 6.495 4.360
E2-06 (E4-06) Motor Leakage Inductance % 18.2 14.3 14.3 18.3 18.3 18.7 18.7 19
E2-10 (E4-10) Motor Iron Loss for Torque Compensation W 14 26 26 53 53 77 77 105
E5-01 Motor Code Selection Hex. 1232 1232 1233 1233 1235 1235 1236 1236
L2-02 Momentary Power Loss Ride-Thru Time s 0.1 0.1 0.2 0.2 0.3 0.3 0.5 0.5
L2-03 Momentary Power Loss Minimum Baseblock Time s 0.2 0.3 0.3 0.4 0.4 0.5 0.5 0.5
L2-04 Momentary Power Loss Voltage Recovery Time s 0.3 0.3 0.3 0.3 0.3 0.3 0.3 0.3
L3-24 Motor Acceleration Time for Inertia Calculations s 0.178 0.142 0.142 0.166 0.166 0.145 0.145 0.145
L8-02 Overheat Alarm Level C 110 110 110 110 110 110 110 110
L8-35 Installation Method Selection 2 2 2 2 2 2 2 2
L8-38 Carrier Frequency Reduction Selection 2 2 2 2 2 2 2 2
n1-03 Hunting Prevention Time Constant ms 10 10 10 10 10 10 10 10
n5-02 Motor Acceleration Time s 0.178 0.142 0.142 0.166 0.166 0.145 0.145 0.145
B.6 Defaults by Drive Model Selection (o2-04) and ND/HD (C6-01)
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 469
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Model CIMR-A 4A0009 4A0011 4A0018 4A0023
C6-01 Drive Duty Selection
HD ND HD ND HD ND HD ND
0 1 0 1 0 1 0 1
o2-04 Drive Model Selection Hex. 96 97 99 9A
E2-11 (E4-11) Motor rated Output kW 3.0 3.7 3.7 5.5 5.5 7.5 7.5 11
b3-04 V/f Gain during Speed Search % 100 100 100 100 100 100 100 100
b3-06 Output Current 1 during Speed Search 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5
b8-03 Energy Saving Control Filter Time Constant s 0.50 0.50 0.50 0.50 0.50 0.50 0.50 0.50
b8-04 Energy Saving Coefficient Value 265.7 245.8 245.8 189.5 189.5 145.38 145.38 140.88
C5-17 (C5-37) Motor Inertia kgm
2
0.0158 0.0158 0.0158 0.0255 0.026 0.037 0.037 0.053
C6-02 Carrier Frequency Selection 1 7 1 7 1 7 1 7
E2-01 (E4-01) Motor Rated Current A 5.7 7 7 9.8 9.8 13.3 13.3 19.9
E2-02 (E4-02) Motor Rated Slip Hz 2.7 2.7 2.7 1.5 1.5 1.3 1.3 1.7
E2-03 (E4-03) Motor No-Load Current A 1.9 2.3 2.3 2.6 2.6 4 4 5.6
E2-05 (E4-05) Motor Line to Line Resistance 4.360 3.333 3.333 1.595 1.595 1.152 1.152 0.922
E2-06 (E4-06) Motor Leakage Inductance % 19 19.3 19.3 18.2 18.2 15.5 15.5 19.6
E2-10 (E4-10) Motor Iron Loss for Torque Compensation W 105 130 130 193 193 263 263 385
E5-01 Motor Code Selection Hex. FFFF FFFF 1238 1238 123A 123A 123B 123B
L2-02 Momentary Power Loss Ride-Thru Time s 0.5 0.5 0.5 0.5 0.8 0.8 1 1
L2-03 Momentary Power Loss Minimum Baseblock Time s 0.5 0.6 0.6 0.7 0.7 0.8 0.8 0.9
L2-04 Momentary Power Loss Voltage Recovery Time s 0.3 0.3 0.3 0.3 0.3 0.3 0.3 0.3
L3-24 Motor Acceleration Time for Inertia Calculations s 0.145 0.154 0.154 0.168 0.168 0.175 0.175 0.265
L8-02 Overheat Alarm Level C 110 110 110 110 110 110 115 115
L8-35 Installation Method Selection 2 2 2 2 2 2 2 2
L8-38 Carrier Frequency Reduction Selection 2 2 2 2 2 2 2 2
n1-03 Hunting Prevention Time Constant ms 10 10 10 10 10 10 10 10
n5-02 Motor Acceleration Time s 0.145 0.154 0.154 0.168 0.168 0.175 0.175 0.265
No. Name Unit Default Settings
Model CIMR-A 4A0031 4A0038 4A0044 4A0058
C6-01 Drive Duty Selection
HD ND HD ND HD ND HD ND
0 1 0 1 0 1 0 1
o2-04 Drive Model Selection Hex. 9C 9D 9E 9F
E2-11 (E4-11) Motor rated Output kW 11 15 15 18.5 18.5 22 22 30
b3-04 V/f Gain during Speed Search % 100 100 100 100 100 100 100 100
b3-06 Output Current 1 during Speed Search 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5
b8-03 Energy Saving Control Filter Time Constant s 0.50 0.50 0.50 0.50 0.50 0.50 0.50 0.50
b8-04 Energy Saving Coefficient Value 140.88 126.26 126.26 115.74 115.74 103.58 103.58 92.54
C5-17 (C5-37) Motor Inertia kgm
2
0.053 0.076 0.076 0.138 0.138 0.165 0.165 0.220
C6-02 Carrier Frequency Selection 1 7 1 7 1 7 1 7
E2-01 (E4-01) Motor Rated Current A 19.9 26.5 26.5 32.9 32.9 38.6 38.6 52.3
E2-02 (E4-02) Motor Rated Slip Hz 1.7 1.6 1.6 1.67 1.67 1.7 1.7 1.8
E2-03 (E4-03) Motor No-Load Current A 5.6 7.6 7.6 7.8 7.8 9.2 9.2 10.9
E2-05 (E4-05) Motor Line to Line Resistance 0.922 0.55 0.55 0.403 0.403 0.316 0.316 0.269
E2-06 (E4-06) Motor Leakage Inductance % 19.6 17.2 17.2 20.1 20.1 23.5 23.5 20.7
E2-10 (E4-10) Motor Iron Loss for Torque Compensation W 385 440 440 508 508 586 586 750
E5-01 Motor Code Selection Hex. 123D 123D 123E 123E 123F 123F 1240 1240
L2-02 Momentary Power Loss Ride-Thru Time s 2 2 2 2 2 2 2 2
L2-03 Momentary Power Loss Minimum Baseblock Time s 0.9 1 1 1 1 1 1 1.1
L2-04 Momentary Power Loss Voltage Recovery Time s 0.3 0.6 0.6 0.6 0.6 0.6 0.6 0.6
L3-24 Motor Acceleration Time for Inertia Calculations s 0.265 0.244 0.244 0.317 0.317 0.355 0.355 0.323
L8-02 Overheat Alarm Level C 120 120 120 120 115 115 120 120
L8-35 Installation Method Selection 2 2 2 2 2 2 0 0
L8-38 Carrier Frequency Reduction Selection 2 2 2 2 2 2 2 2
n1-03 Hunting Prevention Time Constant ms 10 10 10 10 10 10 10 10
n5-02 Motor Acceleration Time s 0.265 0.244 0.244 0.317 0.317 0.355 0.355 0.323
B.6 Defaults by Drive Model Selection (o2-04) and ND/HD (C6-01)
470 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
No. Name Unit Default Settings
Model CIMR-A 4A0072 4A0088 4A0103 4A0139
C6-01 Drive Duty Selection
HD ND HD ND HD ND HD ND
0 1 0 1 0 1 0 1
o2-04 Drive Model Selection Hex. A1 A2 A3 A4
E2-11 (E4-11) Motor rated Output kW 30 37 37 45 45 55 55 75
b3-04 V/f Gain during Speed Search % 100 100 100 100 100 80 80 60
b3-06 Output Current 1 during Speed Search 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.7
b8-03 Energy Saving Control Filter Time Constant s 0.50 0.50 0.50 0.50 0.50 2.00 2.00 2.00
b8-04 Energy Saving Coefficient Value 92.54 76.32 76.32 71.56 71.56 67.2 67.2 46.2
C5-17 (C5-37) Motor Inertia kgm
2
0.220 0.273 0.273 0.333 0.333 0.490 0.49 0.90
C6-02 Carrier Frequency Selection 1 7 1 7 1 7 1 7
E2-01 (E4-01) Motor Rated Current A 52.3 65.6 65.6 79.7 79.7 95 95 130
E2-02 (E4-02) Motor Rated Slip Hz 1.8 1.33 1.33 1.6 1.6 1.46 1.46 1.39
E2-03 (E4-03) Motor No-Load Current A 10.9 19.1 19.1 22 22 24 24 36
E2-05 (E4-05) Motor Line to Line Resistance 0.269 0.155 0.155 0.122 0.122 0.088 0.088 0.092
E2-06 (E4-06) Motor Leakage Inductance % 20.7 18.8 18.8 19.9 19.9 20 20 20
E2-10 (E4-10) Motor Iron Loss for Torque Compensation W 750 925 925 1125 1125 1260 1260 1600
E5-01 Motor Code Selection Hex. 1242 1242 1243 1243 1244 1244 1245 1245
L2-02 Momentary Power Loss Ride-Thru Time s 2 2 2 2 2 2 2 2
L2-03 Momentary Power Loss Minimum Baseblock Time s 1.1 1.1 1.1 1.2 1.2 1.2 1.2 1.3
L2-04 Momentary Power Loss Voltage Recovery Time s 0.6 0.6 0.6 0.6 0.6 1 1 1
L3-24 Motor Acceleration Time for Inertia Calculations s 0.323 0.32 0.32 0.387 0.387 0.317 0.317 0.533
L8-02 Overheat Alarm Level C 120 120 110 110 120 120 130 130
L8-35 Installation Method Selection 0 0 0 0 0 0 0 0
L8-38 Carrier Frequency Reduction Selection 2 2 2 2 2 2 2 2
n1-03 Hunting Prevention Time Constant ms 10 10 10 10 10 10 30 30
n5-02 Motor Acceleration Time s 0.323 0.32 0.32 0.387 0.387 0.317 0.317 0.533
No. Name Unit Default Settings
Model CIMR-A 4A0165 4A0208 4A0250 4A0296
C6-01 Drive Duty Selection
HD ND HD ND HD ND HD ND
0 1 0 1 0 1 0 1
o2-04 Drive Model Selection Hex. A5 A6 A7 A8
E2-11 (E4-11) Motor rated Output kW 75 90 90 110 110 132 132 160
b3-04 V/f Gain during Speed Search % 60 60 60 60 60 60 60 60
b3-06 Output Current 1 during Speed Search 0.7 0.7 0.7 0.7 0.7 0.7 0.7 0.7
b8-03 Energy Saving Control Filter Time Constant s 2.00 2.00 2.00 2.00 2.00 2.00 2.00 2.00
b8-04 Energy Saving Coefficient Value 46.2 38.91 38.91 36.23 36.23 32.79 32.79 30.13
C5-17 (C5-37) Motor Inertia kgm
2
0.90 1.10 1.10 1.90 1.90 2.10 2.10 3.30
C6-02 Carrier Frequency Selection 1 7 1 7 1 7 1 7
E2-01 (E4-01) Motor Rated Current A 130 156 156 190 190 223 223 270
E2-02 (E4-02) Motor Rated Slip Hz 1.39 1.4 1.4 1.4 1.4 1.38 1.38 1.35
E2-03 (E4-03) Motor No-Load Current A 36 40 40 49 49 58 58 70
E2-05 (E4-05) Motor Line to Line Resistance 0.092 0.056 0.056 0.046 0.046 0.035 0.035 0.029
E2-06 (E4-06) Motor Leakage Inductance % 20 20 20 20 20 20 20 20
E2-10 (E4-10) Motor Iron Loss for Torque Compensation W 1600 1760 1760 2150 2150 2350 2350 2850
E5-01 Motor Code Selection Hex. 1246 1246 1247 1247 1248 1248 1249 1249
L2-02 Momentary Power Loss Ride-Thru Time s 2 2 2 2 2 2 2 2
L2-03 Momentary Power Loss Minimum Baseblock Time s 1.3 1.5 1.5 1.7 1.7 1.7 1.7 1.8
L2-04 Momentary Power Loss Voltage Recovery Time s 1 1 1 1 1 1 1 1
L3-24 Motor Acceleration Time for Inertia Calculations s 0.533 0.592 0.592 0.646 0.646 0.673 0.673 0.777
L8-02 Overheat Alarm Level C 130 130 120 120 120 120 125 125
L8-35 Installation Method Selection 0 0 0 0 0 0 0 0
L8-38 Carrier Frequency Reduction Selection 2 2 2 2 2 2 2 2
n1-03 Hunting Prevention Time Constant ms 30 30 30 30 30 30 30 30
n5-02 Motor Acceleration Time s 0.533 0.592 0.592 0.646 0.646 0.673 0.673 0.777
B.6 Defaults by Drive Model Selection (o2-04) and ND/HD (C6-01)
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 471
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No. Name Unit Default Settings
Model CIMR-A 4A0362 4A0414 4A0515 4A0675
C6-01 Drive Duty Selection
HD ND HD ND HD ND HD ND
0 1 0 1 0 1 0 1
o2-04 Drive Model Selection Hex. A9 AA AC AE
E2-11 (E4-11) Motor rated Output kW 160 185 185 220 220 250 315 355
b3-04 V/f Gain during Speed Search % 60 60 60 60 60 60 60 60
b3-06 Output Current 1 during Speed Search 0.7 0.7 0.7 0.7 0.7 0.7 0.7 0.7
b8-03 Energy Saving Control Filter Time Constant s 2.00 2.00 2.00 2.00 2.00 2.00 2.00 2.00
b8-04 Energy Saving Coefficient Value 30.13 30.57 30.57 27.13 27.13 21.76 21.76 23.84
C5-17 (C5-37) Motor Inertia kgm
2
3.30 3.60 3.60 4.10 4.10 6.50 11.00 12.00
C6-02 Carrier Frequency Selection 1 7 1 7 1 7 1 7
E2-01 (E4-01) Motor Rated Current A 270 310 310 370 370 500 500 650
E2-02 (E4-02) Motor Rated Slip Hz 1.35 1.3 1.3 1.3 1.3 1.25 1.25 1
E2-03 (E4-03) Motor No-Load Current A 70 81 81 96 96 130 130 130
E2-05 (E4-05) Motor Line to Line Resistance 0.029 0.025 0.025 0.02 0.02 0.014 0.014 0.012
E2-06 (E4-06) Motor Leakage Inductance % 20 20 20 20 20 20 20 20
E2-10 (E4-10) Motor Iron Loss for Torque Compensation W 2850 3200 3200 3700 3700 4700 4700 5560
E5-01 Motor Code Selection Hex. 124A 124A FFFF FFFF FFFF FFFF FFFF FFFF
L2-02 Momentary Power Loss Ride-Thru Time s 2 2 2 2 2 2 2 2
L2-03 Momentary Power Loss Minimum Baseblock Time s 1.8 1.9 1.9 2 2 2.1 2.1 2.3
L2-04 Momentary Power Loss Voltage Recovery Time s 1 1 1 1 1 1 1 1
L3-24 Motor Acceleration Time for Inertia Calculations s 0.777 0.864 0.864 0.91 0.91 1.392 1.392 1.667
L8-02 Overheat Alarm Level C 130 130 140 140 140 140 140 140
L8-35 Installation Method Selection 0 0 0 0 0 0 0 0
L8-38 Carrier Frequency Reduction Selection 2 2 2 2 2 2 2 2
n1-03 Hunting Prevention Time Constant ms 30 30 100 100 100 100 100 100
n5-02 Motor Acceleration Time s 0.777 0.864 0.864 0.91 0.91 1.392 1.392 1.667
472 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
B.7 Parameters that Change with the Motor Code Selection
B.7 Parameters that Change with the Motor Code Selection
The following tables show parameters and default settings that change with the motor code selection E5-01 when Open
Loop Vector for PM motors is used.
YASKAWA SMRA Series SPM Motor
Table B.11 200 V, 1800 r/min Type YASKAWA SMRA Series SPM Motor
Table B.12 200 V, 3600 r/min Type YASKAWA SMRA Series SPM Motor
No. Name Unit Default Settings
E5-01
Motor Code Selection 0002 0003 0005 0006 0008
Voltage Class V 200 200 200 200 200
Rated Power kW 0.4 0.75 1.5 2.2 3.7
Rated Speed r/min 1800 1800 1800 1800 1800
E5-02 Motor Rated Power kW 0.4 0.75 1.5 2.2 3.7
E5-03 Motor Rated Current A 2.1 4.0 6.9 10.8 17.4
E5-04 Number of Motor Poles 8 8 8 8 8
E5-05 Motor Stator Resistance (r1) 2.47 1.02 0.679 0.291 0.169
E5-06 Motor d-Axis Inductance (Ld) mH 12.7 4.8 3.9 3.6 2.5
E5-07 Motor q-Axis Inductance (Lq) mH 12.7 4.8 3.9 3.6 2.5
E5-09 Motor Induction Voltage Constant 1 (Ke) mVs/rad 0 0 0 0 0
E5-24 Motor Induction Voltage Constant 2 (Ke) mV/(r/min) 62.0 64.1 73.4 69.6 72.2
E1-04 Maximum Output Frequency Hz 120 120 120 120 120
E1-05 Maximum Voltage V 200.0 200.0 200.0 200.0 200.0
E1-06 Base Frequency Hz 120 120 120 120 120
E1-09 Minimum Output Frequency Hz 6 6 6 6 6
C5-17 Motor Inertia kgm
2
0.0007 0.0014 0.0021 0.0032 0.0046
L3-24
Motor Acceleration Time for Inertia
Calculations
s 0.064 0.066 0.049 0.051 0.044
n5-02 Motor Acceleration Time s 0.064 0.066 0.049 0.051 0.044
n8-49
d-Axis Current for High Efficiency
Control (OLV/PM)
% 0 0 0 0 0
No. Name Unit Default Settings
E5-01
Motor Code Selection 0103 0105 0106 0108
Voltage Class V 200 200 200 200
Rated Power kW 0.75 1.5 2.2 3.7
Rated Speed r/min 3600 3600 3600 3600
E5-02 Motor Rated Power kW 0.75 1.5 2.2 3.7
E5-03 Motor Rated Current A 4.1 8.0 10.5 16.5
E5-04 Number of Motor Poles 8 8 8 8
E5-05 Motor Stator Resistance (r1) 0.538 0.20 0.15 0.097
E5-06 Motor d-Axis Inductance (Ld) mH 3.2 1.3 1.1 1.1
E5-07 Motor q-Axis Inductance (Lq) mH 3.2 1.3 1.1 1.1
E5-09 Motor Induction Voltage Constant 1 (Ke) mVs/rad 0 0 0 0
E5-24 Motor Induction Voltage Constant 2 (Ke) mV/(r/min) 32.4 32.7 36.7 39.7
E1-04 Maximum Output Frequency Hz 240 240 240 240
E1-05 Maximum Voltage V 200.0 200.0 200.0 200.0
E1-06 Base Frequency Hz 240 240 240 240
E1-09 Minimum Output Frequency Hz 12 12 12 12
C5-17 Motor Inertia kgm
2
0.0007 0.0014 0.0021 0.0032
L3-24
Motor Acceleration Time for Inertia
Calculations
s 0.137 0.132 0.132 0.122
n5-02 Motor Acceleration Time s 0.137 0.132 0.132 0.122
n8-49
d-Axis Current for High Efficiency
Control (OLV/PM)
% 0 0 0 0
B.7 Parameters that Change with the Motor Code Selection
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 473
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YASKAWA SSR1 Series IPM Motor (For Derated Torque)
Table B.13 200 V, 1750 r/min Type YASKAWA SSR1 Series IPM Motor
No. Name Unit Default Settings
E5-01
Motor Code Selection 1202 1203 1205 1206 1208 120A 120B 120D
Voltage Class V 200 200 200 200 200 200 200 200
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11
Rated Speed r/min 1750 1750 1750 1750 1750 1750 1750 1750
E5-02 Motor Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0
E5-03 Motor Rated Current A 1.77 3.13 5.73 8.44 13.96 20.63 28.13 41.4
E5-04 Number of Motor Poles 6 6 6 6 6 6 6 6
E5-05 Motor Stator Resistance (r1) 8.233 2.284 1.470 0.827 0.455 0.246 0.198 0.094
E5-06 Motor d-Axis Inductance (Ld) mH 54.84 23.02 17.22 8.61 7.20 4.86 4.15 3.40
E5-07 Motor q-Axis Inductance (Lq) mH 64.10 29.89 20.41 13.50 10.02 7.43 5.91 3.91
E5-09 Motor Induction Voltage Constant 1 (Ke) mVs/rad 223.7 220.3 240.8 238.0 238.7 239.6 258.2 239.3
E5-24 Motor Induction Voltage Constant 2 (Ke) mV/(r/min) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
E1-04 Maximum Output Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-05 Maximum Voltage V 190.0 190.0 190.0 190.0 190.0 190.0 190.0 190.0
E1-06 Base Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-09 Minimum Output Frequency Hz 4.4 4.4 4.4 4.4 4.4 4.4 4.4 4.4
C5-17 Motor Inertia kgm
2
0.0011 0.0017 0.0023 0.0043 0.0083 0.014 0.017 0.027
L3-24
Motor Acceleration Time for Inertia
Calculations
s 0.092 0.076 0.052 0.066 0.075 0.083 0.077 0.084
n5-02 Motor Acceleration Time s 0.092 0.076 0.052 0.066 0.075 0.083 0.077 0.084
n8-49
d-Axis Current for High Efficiency
Control (OLV/PM)
% -7.6 -11.5 -9.1 -19.0 -18.7 -23.4 -18.5 -10.9
No. Name Unit Default Settings
E5-01
Motor Code Selection 120E 120F 1210 1212 1213 1214 1215 1216
Voltage Class V 200 200 200 200 200 200 200 200
Rated Power kW 15 18 22 30 37 45 55 75
Rated Speed r/min 1750 1750 1750 1750 1750 1750 1750 1750
E5-02 Motor Rated Power kW 15.00 18.50 22.00 30.00 37.00 45.00 55.00 75.00
E5-03 Motor Rated Current A 55.4 68.2 80.6 105.2 131.3 153.1 185.4 257.3
E5-04 Number of Motor Poles 6 6 6 6 6 6 6 6
E5-05 Motor Stator Resistance (r1) 0.066 0.051 0.037 0.030 0.020 0.014 0.012 0.006
E5-06 Motor d-Axis Inductance (Ld) mH 2.45 2.18 1.71 1.35 0.99 0.83 0.79 0.44
E5-07 Motor q-Axis Inductance (Lq) mH 3.11 2.55 2.05 1.82 1.28 1.01 0.97 0.56
E5-09 Motor Induction Voltage Constant 1 (Ke) mVs/rad 248.1 253.6 250.0 280.9 264.2 280.4 311.9 268.0
E5-24 Motor Induction Voltage Constant 2 (Ke) mV/(r/min) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
E1-04 Maximum Output Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-05 Maximum Voltage V 190.0 190.0 190.0 190.0 190.0 190.0 190.0 190.0
E1-06 Base Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-09 Minimum Output Frequency Hz 4.4 4.4 4.4 4.4 4.4 4.4 4.4 4.4
C5-17 Motor Inertia kgm
2
0.046 0.055 0.064 0.116 0.140 0.259 0.31 0.42
L3-24
Motor Acceleration Time for Inertia
Calculations
s 0.102 0.101 0.098 0.130 0.127 0.193 0.191 0.187
n5-02 Motor Acceleration Time s 0.102 0.101 0.098 0.130 0.127 0.193 0.191 0.187
n8-49
d-Axis Current for High Efficiency
Control (OLV/PM)
% -16.5 -11.3 -12.8 -16.8 -15.6 -10.7 -9.6 -13.3
B.7 Parameters that Change with the Motor Code Selection
474 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Table B.14 400 V, 1750 r/min Type YASKAWA SSR1 Series IPM Motor
No. Name Unit Default Settings
E5-01
Motor Code Selection 1232 1233 1235 1236 1238 123A 123B 123D 123E 123F
Voltage Class V 400 400 400 400 400 400 400 400 400 400
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11 15 18
Rated Speed r/min 1750 1750 1750 1750 1750 1750 1750 1750 1750 1750
E5-02 Motor Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0 15 18.50
E5-03 Motor Rated Current A 0.89 1.56 2.81 4.27 7.08 10.31 13.65 20.7 27.5 33.4
E5-04 Number of Motor Poles 6 6 6 6 6 6 6 6 6 6
E5-05 Motor Stator Resistance (r1) 25.370 9.136 6.010 3.297 1.798 0.982 0.786 0.349 0.272 0.207
E5-06 Motor d-Axis Inductance (Ld) mH 169.00 92.08 67.71 34.40 32.93 22.7 16.49 13.17 10.30 8.72
E5-07 Motor q-Axis Inductance (Lq) mH 197.50 119.56 81.71 54.00 37.70 26.80 23.46 15.60 12.77 11.22
E5-09 Motor Induction Voltage Constant 1 (Ke) mVs/rad 392.6 440.6 478.3 466.3 478.8 478.1 520.0 481.5 498.8 509.5
E5-24 Motor Induction Voltage Constant 2 (Ke) mV/(r/min) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
E1-04 Maximum Output Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0
E1-06 Base Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-09 Minimum Output Frequency Hz 4.4 4.4 4.4 4.4 4.4 4.4 4.4 4.4 4.4 4.4
C5-17 Motor Inertia kgm
2
0.0011 0.0017 0.0023 0.0043 0.0083 0.014 0.017 0.027 0.046 0.055
L3-24
Motor Acceleration Time for Inertia
Calculations
s 0.092 0.076 0.052 0.066 0.075 0.083 0.077 0.084 0.102 0.101
n5-02 Motor Acceleration Time s 0.092 0.076 0.052 0.066 0.075 0.083 0.077 0.084 0.102 0.101
n8-49
d-Axis Current for High Efficiency
Control (OLV/PM)
% -8.6 -11.5 -10.3 -19.8 -8.5 -11.0 -18.6 -12.5 -15.5 -17.9
No. Name Unit Default Settings
E5-01
Motor Code Selection 1240 1242 1243 1244 1245 1246 1247 1248 1249 124A
Voltage Class V 400 400 400 400 400 400 400 400 400 400
Rated Power kW 22 30 37 45 55 75 90 110 132 160
Rated Speed r/min 1750 1750 1750 1750 1750 1750 1750 1750 1750 1750
E5-02 Motor Rated Power kW 22.00 30.00 37.00 45.00 55.00 75.00 90.00 110.00 132 160
E5-03 Motor Rated Current A 39.8 52.0 65.8 77.5 92.7 126.6 160.4 183.3 222.9 267.7
E5-04 Number of Motor Poles 6 6 6 6 6 6 6 6 6 6
E5-05 Motor Stator Resistance (r1) 0.148 0.235 0.079 0.054 0.049 0.029 0.019 0.017 0.012 0.008
E5-06 Motor d-Axis Inductance (Ld) mH 6.81 5.4 4.08 3.36 3.16 2.12 1.54 1.44 1.21 0.97
E5-07 Motor q-Axis Inductance (Lq) mH 8.47 7.26 5.12 3.94 3.88 2.61 2.06 2.21 1.46 1.28
E5-09 Motor Induction Voltage Constant 1 (Ke) mVs/rad 503.9 561.7 528.5 558.1 623.8 594.5 524.1 583.7 563.6 601.2
E5-24 Motor Induction Voltage Constant 2 (Ke) mV/(r/min) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0 0
E1-04 Maximum Output Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380 380
E1-06 Base Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-09 Minimum Output Frequency Hz 4.4 4.4 4.4 4.4 4.4 4.4 4.4 4.4 4.4 4.4
C5-17 Motor Inertia kgm
2
0.064 0.116 0.140 0.259 0.31 0.42 0.56 0.83 0.96 1.61
L3-24
Motor Acceleration Time for Inertia
Calculations
s 0.098 0.130 0.127 0.193 0.191 0.187 0.208 0.254 0.243 0.338
n5-02 Motor Acceleration Time s 0.098 0.130 0.127 0.193 0.191 0.187 0.208 0.254 0.243 0.338
n8-49
d-Axis Current for High Efficiency
Control (OLV/PM)
% -15.1 -16.8 -14.1 -8.8 -9.6 -10.3 -17.0 -21.7 -10.9 -13.2
B.7 Parameters that Change with the Motor Code Selection
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 475
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Table B.15 200 V, 1450 r/min Type YASKAWA SSR1 Series IPM Motor
No. Name Unit Default Settings
E5-01
Motor Code Selection 1302 1303 1305 1306 1308 130A 130B 130D
Voltage Class V 200 200 200 200 200 200 200 200
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11
Rated Speed r/min 1450 1450 1450 1450 1450 1450 1450 1450
E5-02 Motor Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0
E5-03 Motor Rated Current A 1.88 3.13 5.63 8.33 14.17 20.63 27.71 39.6
E5-04 Number of Motor Poles 6 6 6 6 6 6 6 6
E5-05 Motor Stator Resistance (r1) 3.190 1.940 1.206 0.665 0.341 0.252 0.184 0.099
E5-06 Motor d-Axis Inductance (Ld) mH 32.15 26.12 14.72 12.27 8.27 6.49 6.91 4.07
E5-07 Motor q-Axis Inductance (Lq) mH 41.74 34.30 20.15 14.77 9.81 7.74 7.66 4.65
E5-09 Motor Induction Voltage Constant 1 (Ke) mVs/rad 264.3 269.6 284.3 287.1 284.5 298.0 335.0 303.9
E5-24 Motor Induction Voltage Constant 2 (Ke) mV/(r/min) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
E1-04 Maximum Output Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-05 Maximum Voltage V 190.0 190.0 190.0 190.0 190.0 190.0 190.0 190.0
E1-06 Base Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-09 Minimum Output Frequency Hz 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6
C5-17 Motor Inertia kgm
2
0.0017 0.0023 0.0043 0.0083 0.0136 0.017 0.027 0.046
L3-24
Motor Acceleration Time for Inertia
Calculations
s 0.098 0.071 0.066 0.087 0.085 0.072 0.084 0.096
n5-02 Motor Acceleration Time s 0.098 0.071 0.066 0.087 0.085 0.072 0.084 0.096
n8-49
d-Axis Current for High Efficiency
Control (OLV/PM)
% -6.6 -10.9 -13.5 -9.0 -9.5 -10.1 -6.0 -9.3
No. Name Unit Default Settings
E5-01
Motor Code Selection 130E 130F 1310 1312 1313 1314 1315
Voltage Class V 200 200 200 200 200 200 200
Rated Power kW 15 18 22 30 37 45 55
Rated Speed r/min 1450 1450 1450 1450 1450 1450 1450
E5-02 Motor Rated Power kW 15.00 18.50 22.00 30.00 37.00 45.00 55.00
E5-03 Motor Rated Current A 55.5 65.6 75.1 105.2 126.0 153.1 186.5
E5-04 Number of Motor Poles 6 6 6 6 6 6 6
E5-05 Motor Stator Resistance (r1) 0.075 0.057 0.041 0.034 0.023 0.015 0.012
E5-06 Motor d-Axis Inductance (Ld) mH 3.29 2.53 1.98 1.75 1.48 1.04 0.87
E5-07 Motor q-Axis Inductance (Lq) mH 3.84 3.01 2.60 2.17 1.70 1.31 1.10
E5-09 Motor Induction Voltage Constant 1 (Ke) mVs/rad 311.2 300.9 327.7 354.2 369.6 351.6 374.7
E5-24 Motor Induction Voltage Constant 2 (Ke) mV/(r/min) 0.0 0.0 0.0 0.0 0.0 0.0 0.0
E1-04 Maximum Output Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-05 Maximum Voltage V 190.0 190.0 190.0 190.0 190.0 190.0 190.0
E1-06 Base Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-09 Minimum Output Frequency Hz 3.6 3.6 3.6 3.6 3.6 3.6 3.6
C5-17 Motor Inertia kgm
2
0.055 0.064 0.116 0.140 0.259 0.312 0.42
L3-24
Motor Acceleration Time for Inertia
Calculations
s 0.085 0.080 0.122 0.108 0.161 0.160 0.175
n5-02 Motor Acceleration Time s 0.085 0.080 0.122 0.108 0.161 0.160 0.175
n8-49
d-Axis Current for High Efficiency
Control (OLV/PM)
% -10.7 -13.2 -15.7 -11.5 -7.0 -11.8 -10.2
B.7 Parameters that Change with the Motor Code Selection
476 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Table B.16 400 V, 1450 r/min Type YASKAWA SSR1 Series IPM Motor
No. Name Unit Default Settings
E5-01
Motor Code Selection 1332 1333 1335 1336 1338 133A 133B 133D 133E 133F
Voltage Class V 400 400 400 400 400 400 400 400 400 400
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11 15 18
Rated Speed r/min 1450 1450 1450 1450 1450 1450 1450 1450 1450 1450
E5-02 Motor Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0 15 18.50
E5-03 Motor Rated Current A 0.94 1.56 2.81 4.27 6.98 10.21 13.85 19.5 27.4 32.9
E5-04 Number of Motor Poles 6 6 6 6 6 6 6 6 6 6
E5-05 Motor Stator Resistance (r1) 12.760 7.421 4.825 2.656 1.353 0.999 0.713 0.393 0.295 0.223
E5-06 Motor d-Axis Inductance (Ld) mH 128.60 85.11 58.87 46.42 31.73 26.20 27.06 15.51 12.65 9.87
E5-07 Motor q-Axis Inductance (Lq) mH 166.96 113.19 80.59 60.32 40.45 30.94 33.45 19.63 15.87 12.40
E5-09 Motor Induction Voltage Constant 1 (Ke) mVs/rad 528.6 544.2 568.5 572.8 562.9 587.6 670.1 612.7 624.6 610.4
E5-24 Motor Induction Voltage Constant 2 (Ke) mV/(r/min) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
E1-04 Maximum Output Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0
E1-06 Base Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-09 Minimum Output Frequency Hz 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6
C5-17 Motor Inertia kgm
2
0.0017 0.0023 0.0043 0.0083 0.0136 0.017 0.027 0.046 0.055 0.064
L3-24
Motor Acceleration Time for Inertia
Calculations
s 0.098 0.071 0.066 0.087 0.085 0.072 0.084 0.096 0.085 0.080
n5-02 Motor Acceleration Time s 0.098 0.071 0.066 0.087 0.085 0.072 0.084 0.096 0.085 0.080
n8-49
d-Axis Current for High Efficiency
Control (OLV/PM)
% -6.6 -9.2 -13.5 -12.1 -13.7 -10.1 -12.2 -15.5 -15.1 -16.0
No. Name Unit Default Settings
E5-01
Motor Code Selection 1340 1342 1343 1344 1345 1346 1347 1348 1349
Voltage Class V 400 400 400 400 400 400 400 400 400
Rated Power kW 22 30 37 45 55 75 90 110 132
Rated Speed r/min 1450 1450 1450 1450 1450 1450 1450 1450 1450
E5-02 Motor Rated Power kW 22.00 30.00 37.00 45.00 55.00 75.00 90.00 110.00 132.00
E5-03 Motor Rated Current A 37.6 52.5 63.2 76.4 96.1 124.0 153.1 186.5 226.0
E5-04 Number of Motor Poles 6 6 6 6 6 6 6 6 6
E5-05 Motor Stator Resistance (r1) 0.164 0.137 0.093 0.059 0.048 0.028 0.024 0.015 0.011
E5-06 Motor d-Axis Inductance (Ld) mH 7.90 7.01 5.93 4.17 3.11 2.32 2.20 1.45 1.23
E5-07 Motor q-Axis Inductance (Lq) mH 10.38 8.68 6.79 5.22 4.55 2.97 3.23 1.88 1.67
E5-09 Motor Induction Voltage Constant 1 (Ke) mVs/rad 655.4 708.4 739.2 703.0 747.1 639.3 708.0 640.7 677.0
E5-24 Motor Induction Voltage Constant 2 (Ke) mV/(r/min) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
E1-04 Maximum Output Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0
E1-06 Base Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-09 Minimum Output Frequency Hz 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6
C5-17 Motor Inertia kgm
2
0.116 0.140 0.259 0.312 0.42 0.56 0.83 0.96 1.61
L3-24
Motor Acceleration Time for Inertia
Calculations
s 0.122 0.108 0.161 0.160 0.175 0.171 0.213 0.201 0.281
n5-02 Motor Acceleration Time s 0.122 0.108 0.161 0.160 0.175 0.171 0.213 0.201 0.281
n8-49
d-Axis Current for High Efficiency
Control (OLV/PM)
% -15.7 -11.5 -6.8 -11.5 -14.8 -15.8 -19.6 -14.9 -15.1
B.7 Parameters that Change with the Motor Code Selection
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 477
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Table B.17 200 V, 1150 r/min Type YASKAWA SSR1 Series IPM Motor
No. Name Unit Default Settings
E5-01
Motor Code Selection 1402 1403 1405 1406 1408 140A 140B
Voltage Class V 200 200 200 200 200 200 200
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5
Rated Speed r/min 1150 1150 1150 1150 1150 1150 1150
E5-02 Motor Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5
E5-03 Motor Rated Current A 1.88 3.02 6.00 8.85 14.27 20.21 26.67
E5-04 Number of Motor Poles 6 6 6 6 6 6 6
E5-05 Motor Stator Resistance (r1) 4.832 2.704 1.114 0.511 0.412 0.303 0.165
E5-06 Motor d-Axis Inductance (Ld) mH 48.68 32.31 19.22 12.15 7.94 11.13 6.59
E5-07 Motor q-Axis Inductance (Lq) mH 63.21 40.24 24.38 15.35 11.86 14.06 8.55
E5-09 Motor Induction Voltage Constant 1 (Ke) mVs/rad 320.4 327.1 364.4 344.4 357.5 430.8 391.5
E5-24 Motor Induction Voltage Constant 2 (Ke) mV/(r/min) 0.0 0.0 0.0 0.0 0.0 0.0 0.0
E1-04 Maximum Output Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-05 Maximum Voltage V 190.0 190.0 190.0 190.0 190.0 190.0 190.0
E1-06 Base Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-09 Minimum Output Frequency Hz 2.9 2.9 2.9 2.9 2.9 2.9 2.9
C5-17 Motor Inertia kgm
2
0.0017 0.0023 0.0083 0.0136 0.0171 0.027 0.046
L3-24
Motor Acceleration Time for Inertia
Calculations
s 0.062 0.044 0.080 0.090 0.067 0.072 0.088
n5-02 Motor Acceleration Time s 0.062 0.044 0.080 0.090 0.067 0.072 0.088
n8-49
d-Axis Current for High Efficiency
Control (OLV/PM)
% -8.8 -9.9 -9.3 -10.0 -17.7 -12.3 -15.3
No. Name Unit Default Settings
E5-01
Motor Code Selection 140D 140E 140F 1410 1412 1413 1414
Voltage Class V 200 200 200 200 200 200 200
Rated Power kW 11 15 18 22 30 37 45
Rated Speed r/min 1150 1150 1150 1150 1150 1150 1150
E5-02 Motor Rated Power kW 11.0 15 18.50 22.00 30.00 37.00 45.00
E5-03 Motor Rated Current A 39.9 55.6 63.5 74.4 104.2 129.6 154.2
E5-04 Number of Motor Poles 6 6 6 6 6 6 6
E5-05 Motor Stator Resistance (r1) 0.113 0.084 0.066 0.048 0.035 0.023 0.016
E5-06 Motor d-Axis Inductance (Ld) mH 4.96 3.83 3.33 2.38 2.04 1.53 1.16
E5-07 Motor q-Axis Inductance (Lq) mH 6.12 4.65 4.50 3.15 2.86 2.27 1.54
E5-09 Motor Induction Voltage Constant 1 (Ke) mVs/rad 384.4 372.1 421.3 410.9 436.1 428.8 433.3
E5-24 Motor Induction Voltage Constant 2 (Ke) mV/(r/min) 0.0 0.0 0.0 0.0 0.0 0.0 0.0
E1-04 Maximum Output Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-05 Maximum Voltage V 190.0 190.0 190.0 190.0 190.0 190.0 190.0
E1-06 Base Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-09 Minimum Output Frequency Hz 2.9 2.9 2.9 2.9 2.9 2.9 2.9
C5-17 Motor Inertia kgm
2
0.055 0.064 0.116 0.140 0.259 0.312 0.418
L3-24
Motor Acceleration Time for Inertia
Calculations
s 0.073 0.062 0.091 0.092 0.125 0.122 0.135
n5-02 Motor Acceleration Time s 0.073 0.062 0.091 0.092 0.125 0.122 0.135
n8-49
d-Axis Current for High Efficiency
Control (OLV/PM)
% -13.9 -14.4 -17.9 -15.9 -17.9 -20.1 -13.7
B.7 Parameters that Change with the Motor Code Selection
478 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Table B.18 400 V, 1150 r/min Type YASKAWA SSR1 Series IPM Motor
No. Name Unit Default Settings
E5-01
Motor Code Selection 1432 1433 1435 1436 1438 143A 143B 143D 143E
Voltage Class V 400 400 400 400 400 400 400 400 400
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11 15
Rated Speed r/min 1150 1150 1150 1150 1150 1150 1150 1150 1150
E5-02 Motor Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0 15
E5-03 Motor Rated Current A 0.94 1.51 3.00 4.43 7.08 10.10 13.33 19.9 27.8
E5-04 Number of Motor Poles 6 6 6 6 6 6 6 6 6
E5-05 Motor Stator Resistance (r1) 19.320 10.800 4.456 2.044 1.483 1.215 0.660 0.443 0.331
E5-06 Motor d-Axis Inductance (Ld) mH 194.70 129.20 76.88 48.60 37.58 44.54 26.36 19.10 15.09
E5-07 Motor q-Axis Inductance (Lq) mH 252.84 160.90 97.52 61.40 47.65 56.26 34.20 24.67 18.56
E5-09 Motor Induction Voltage Constant 1 (Ke) mVs/rad 640.9 654.1 728.8 688.9 702.0 861.5 783.0 762.2 749.6
E5-24 Motor Induction Voltage Constant 2 (Ke) mV/(r/min) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
E1-04 Maximum Output Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0
E1-06 Base Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-09 Minimum Output Frequency Hz 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9
C5-17 Motor Inertia kgm
2
0.0017 0.0023 0.0083 0.0136 0.0171 0.027 0.046 0.055 0.064
L3-24
Motor Acceleration Time for Inertia
Calculations
s 0.062 0.044 0.080 0.090 0.067 0.072 0.088 0.073 0.062
n5-02 Motor Acceleration Time s 0.062 0.044 0.080 0.090 0.067 0.072 0.088 0.073 0.062
n8-49
d-Axis Current for High Efficiency
Control (OLV/PM)
% -8.8 -9.9 -9.3 -10.0 -12.8 -12.3 -15.3 -16.7 -14.9
No. Name Unit Default Settings
E5-01
Motor Code Selection 143F 1440 1442 1443 1444 1445 1446 1447 1448
Voltage Class V 400 400 400 400 400 400 400 400 400
Rated Power kW 18 22 30 37 45 55 75 90 110
Rated Speed r/min 1150 1150 1150 1150 1150 1150 1150 1150 1150
E5-02 Motor Rated Power kW 18.50 22.00 30.00 37.00 45.00 55.00 75.00 90.00 110.00
E5-03 Motor Rated Current A 31.8 37.2 52.1 64.8 76.6 92.0 127.1 150.5 185.4
E5-04 Number of Motor Poles 6 6 6 6 6 6 6 6 6
E5-05 Motor Stator Resistance (r1) 0.264 0.192 0.140 0.093 0.063 0.051 0.033 0.027 0.015
E5-06 Motor d-Axis Inductance (Ld) mH 13.32 9.52 8.16 6.13 4.63 3.96 3.03 2.60 1.89
E5-07 Motor q-Axis Inductance (Lq) mH 18.00 12.60 11.40 9.10 6.15 5.00 5.14 3.28 2.33
E5-09 Motor Induction Voltage Constant 1 (Ke) mVs/rad 842.7 821.8 872.3 857.7 866.6 854.0 823.1 853.4 829.2
E5-24 Motor Induction Voltage Constant 2 (Ke) mV/(r/min) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
E1-04 Maximum Output Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0
E1-06 Base Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-09 Minimum Output Frequency Hz 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9
C5-17 Motor Inertia kgm
2
0.116 0.140 0.259 0.312 0.418 0.56 0.83 0.96 1.61
L3-24
Motor Acceleration Time for Inertia
Calculations
s 0.091 0.092 0.125 0.122 0.135 0.147 0.161 0.154 0.212
n5-02 Motor Acceleration Time s 0.091 0.092 0.125 0.122 0.135 0.147 0.161 0.154 0.212
n8-49
d-Axis Current for High Efficiency
Control (OLV/PM)
% -17.9 -15.9 -17.7 -20.1 -13.8 -12.5 -28.8 -13.3 -11.6
B.7 Parameters that Change with the Motor Code Selection
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 479
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YASKAWA SST4 Series IPM Motor (For Constant Torque)
Table B.19 200 V, 1750 r/min Type YASKAWA SST4 Series IPM Motor
No. Name Unit Default Settings
E5-01
Motor Code Selection 2202 2203 2205 2206 2208 220A 220B 220D
Voltage Class V 200 200 200 200 200 200 200 200
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11
Rated Speed r/min 1750 1750 1750 1750 1750 1750 1750 1750
E5-02 Motor Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0
E5-03 Motor Rated Current A 1.77 3.54 6.56 8.96 14.79 20.94 29.58 41.1
E5-04 Number of Motor Poles 6 6 6 6 6 6 6 6
E5-05 Motor Stator Resistance (r1) 2.247 1.132 0.774 0.479 0.242 0.275 0.161 0.111
E5-06 Motor d-Axis Inductance (Ld) mH 22.32 12.38 8.90 7.39 5.06 5.82 3.86 3.59
E5-07 Motor q-Axis Inductance (Lq) mH 32.50 15.72 11.96 9.63 6.42 6.74 4.66 4.32
E5-09 Motor Induction Voltage Constant 1 (Ke) mVs/rad 215.2 203.9 219.3 230.6 235.1 251.7 235.7 252.0
E5-24 Motor Induction Voltage Constant 2 (Ke) mV/(r/min) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
E1-04 Maximum Output Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-05 Maximum Voltage V 190.0 190.0 190.0 190.0 190.0 190.0 190.0 190.0
E1-06 Base Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-09 Minimum Output Frequency Hz 4.4 4.4 4.4 4.4 4.4 4.4 4.4 4.4
C5-17 Motor Inertia kgm
2
0.0016 0.0022 0.0042 0.0081 0.0133 0.013 0.017 0.027
L3-24
Motor Acceleration Time for Inertia
Calculations
s 0.134 0.099 0.094 0.124 0.121 0.081 0.075 0.082
n5-02 Motor Acceleration Time s 0.134 0.099 0.094 0.124 0.121 0.081 0.075 0.082
n8-49
d-Axis Current for High Efficiency
Control (OLV/PM)
% -9.3 -6.4 -10.0 -9.9 -9.7 -8.4 -11.5 -13.1
No. Name Unit Default Settings
E5-01
Motor Code Selection 220E 220F 2210 2212 2213 2214 2215 2216
Voltage Class V 200 200 200 200 200 200 200 200
Rated Power kW 15 18 22 30 37 45 55 75
Rated Speed r/min 1750 1750 1750 1750 1750 1750 1750 1750
E5-02 Motor Rated Power kW 15 18.50 22.00 30.00 37.00 45.00 55.00 75.00
E5-03 Motor Rated Current A 54.2 68.2 78.6 104.2 129.2 153.1 205.2 260.4
E5-04 Number of Motor Poles 6 6 6 6 6 6 6 6
E5-05 Motor Stator Resistance (r1) 0.071 0.049 0.040 0.030 0.020 0.013 0.009 0.006
E5-06 Motor d-Axis Inductance (Ld) mH 2.67 1.98 1.69 1.31 0.88 0.77 0.55 0.40
E5-07 Motor q-Axis Inductance (Lq) mH 3.10 2.41 2.12 1.61 1.14 1.04 0.69 0.50
E5-09 Motor Induction Voltage Constant 1 (Ke) mVs/rad 253.7 244.6 256.3 283.1 266.3 260.0 261.5 259.3
E5-24 Motor Induction Voltage Constant 2 (Ke) mV/(r/min) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
E1-04 Maximum Output Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-05 Maximum Voltage V 190.0 190.0 190.0 190.0 190.0 190.0 190.0 190.0
E1-06 Base Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-09 Minimum Output Frequency Hz 4.4 4.4 4.4 4.4 4.4 4.4 4.4 4.4
C5-17 Motor Inertia kgm
2
0.044 0.054 0.063 0.113 0.137 0.252 0.30 0.41
L3-24
Motor Acceleration Time for Inertia
Calculations
s 0.099 0.098 0.096 0.127 0.124 0.188 0.186 0.184
n5-02 Motor Acceleration Time s 0.099 0.098 0.096 0.127 0.124 0.188 0.186 0.184
n8-49
d-Axis Current for High Efficiency
Control (OLV/PM)
% -10.9 -14.3 -15.1 -11.3 -14.1 -18.8 -11.4 -12.2
B.7 Parameters that Change with the Motor Code Selection
480 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Table B.20 400 V, 1750 r/min Type YASKAWA SST4 Series IPM Motor
No. Name Unit Default Settings
E5-01
Motor Code Selection 2232 2233 2235 2236 2238 223A 223B 223D
Voltage Class V 400 400 400 400 400 400 400 400
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11
Rated Speed r/min 1750 1750 1750 1750 1750 1750 1750 1750
E5-02 Motor Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0
E5-03 Motor Rated Current A 0.92 1.77 3.33 4.48 7.50 10.42 14.27 20.5
E5-04 Number of Motor Poles 6 6 6 6 6 6 6 6
E5-05 Motor Stator Resistance (r1) 8.935 4.570 3.096 1.906 0.972 1.103 0.630 0.429
E5-06 Motor d-Axis Inductance (Ld) mH 80.14 48.04 35.60 30.31 20.03 23.41 14.86 14.34
E5-07 Motor q-Axis Inductance (Lq) mH 110.76 64.88 47.84 38.36 24.97 28.70 17.25 17.25
E5-09 Motor Induction Voltage Constant 1 (Ke) mVs/rad 416.5 399.4 438.5 475.5 463.7 485.8 470.4 513.4
E5-24 Motor Induction Voltage Constant 2 (Ke) mV/(r/min) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
E1-04 Maximum Output Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0
E1-06 Base Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-09 Minimum Output Frequency Hz 4.4 4.4 4.4 4.4 4.4 4.4 4.4 4.4
C5-17 Motor Inertia kgm
2
0.0016 0.0022 0.0042 0.0081 0.0133 0.013 0.017 0.027
L3-24
Motor Acceleration Time for Inertia
Calculations
s 0.134 0.099 0.094 0.124 0.121 0.081 0.075 0.082
n5-02 Motor Acceleration Time s 0.134 0.099 0.094 0.124 0.121 0.081 0.075 0.082
n8-49
d-Axis Current for High Efficiency
Control (OLV/PM)
% -7.5 -8.5 -9.8 -8.2 -9.1 -13.1 -9.2 -12.4
No. Name Unit Default Settings
E5-01
Motor Code Selection 223E 223F 2240 2242 2243 2244 2245 2246
Voltage Class V 400 400 400 400 400 400 400 400
Rated Power kW 15 18 22 30 37 45 55 75
Rated Speed r/min 1750 1750 1750 1750 1750 1750 1750 1750
E5-02 Motor Rated Power kW 15 18.50 22.00 30.00 37.00 45.00 55.00 75.00
E5-03 Motor Rated Current A 26.4 34.2 38.8 52.2 65.4 77.6 99.3 130.2
E5-04 Number of Motor Poles 6 6 6 6 6 6 6 6
E5-05 Motor Stator Resistance (r1) 0.275 0.196 0.160 0.120 0.077 0.052 0.036 0.023
E5-06 Motor d-Axis Inductance (Ld) mH 9.99 7.92 6.82 5.24 3.57 2.98 1.59 1.59
E5-07 Motor q-Axis Inductance (Lq) mH 12.37 9.64 8.51 6.44 4.65 3.75 2.78 1.97
E5-09 Motor Induction Voltage Constant 1 (Ke) mVs/rad 505.3 489.2 509.5 566.2 531.6 530.6 515.2 515.2
E5-24 Motor Induction Voltage Constant 2 (Ke) mV/(r/min) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
E1-04 Maximum Output Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0
E1-06 Base Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-09 Minimum Output Frequency Hz 4.4 4.4 4.4 4.4 4.4 4.4 4.4 4.4
C5-17 Motor Inertia kgm
2
0.044 0.054 0.063 0.113 0.137 0.252 0.30 0.41
L3-24
Motor Acceleration Time for Inertia
Calculations
s 0.099 0.098 0.096 0.127 0.124 0.188 0.186 0.184
n5-02 Motor Acceleration Time s 0.099 0.098 0.096 0.127 0.124 0.188 0.186 0.184
n8-49
d-Axis Current for High Efficiency
Control (OLV/PM)
% -15.1 -14.3 -15.3 -11.3 -14.5 -13.2 -22.6 -11.9
B.7 Parameters that Change with the Motor Code Selection
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 481
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Table B.21 200 V, 1450 r/min Type YASKAWA SST4 Series IPM Motor
No. Name Unit Default Settings
E5-01
Motor Code Selection 2247 2248 2249 224A 224C 224D 224E
Voltage Class V 400 400 400 400 400 400 400
Rated Power kW 90 110 132 160 200 220 300
Rated Speed r/min 1750 1750 1750 1750 1750 1750 1750
E5-02 Motor Rated Power kW 90.00 110.00 132.00 160.00 200.00 250.00 300.00
E5-03 Motor Rated Current A 153.1 184.4 229.2 269.8 346.9 421.9 520.8
E5-04 Number of Motor Poles 6 6 6 6 6 6 6
E5-05 Motor Stator Resistance (r1) 0.019 0.017 0.012 0.008 0.005 0.004 0.002
E5-06 Motor d-Axis Inductance (Ld) mH 1.51 1.43 1.13 0.96 0.65 0.67 0.40
E5-07 Motor q-Axis Inductance (Lq) mH 1.76 1.92 1.54 1.26 0.88 0.74 0.52
E5-09 Motor Induction Voltage Constant 1 (Ke) mVs/rad 538.3 590.9 548.2 603.9 556.8 593.1 495.4
E5-24 Motor Induction Voltage Constant 2 (Ke) mV/(r/min) 0.0 0.0 0.0 0.0 0.0 0.0 0.0
E1-04 Maximum Output Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0
E1-06 Base Frequency Hz 87.5 87.5 87.5 87.5 87.5 87.5 87.5
E1-09 Minimum Output Frequency Hz 4.4 4.4 4.4 4.4 4.4 4.4 4.4
C5-17 Motor Inertia kgm
2
0.55 0.82 0.96 1.60 1.95 2.82 3.70
L3-24
Motor Acceleration Time for Inertia
Calculations
s 0.205 0.250 0.244 0.336 0.327 0.379 0.414
n5-02 Motor Acceleration Time s 0.205 0.250 0.244 0.336 0.327 0.379 0.414
n8-49
d-Axis Current for High Efficiency
Control (OLV/PM)
% -8.6 -14.8 -17.5 -12.5 -14.7 -5.1 -16.3
No. Name Unit Default Settings
E5-01
Motor Code Selection 2302 2303 2305 2306 2308 230A 230B 230D
Voltage Class V 200 200 200 200 200 200 200 200
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11
Rated Speed r/min 1450 1450 1450 1450 1450 1450 1450 1450
E5-02 Motor Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0
E5-03 Motor Rated Current A 1.77 3.33 5.94 9.48 14.17 20.42 27.92 39.6
E5-04 Number of Motor Poles 6 6 6 6 6 6 6 6
E5-05 Motor Stator Resistance (r1) 3.154 1.835 0.681 0.308 0.405 0.278 0.180 0.098
E5-06 Motor d-Axis Inductance (Ld) mH 28.46 19.46 10.00 6.88 8.15 5.77 6.32 3.34
E5-07 Motor q-Axis Inductance (Lq) mH 39.29 25.89 15.20 9.25 10.76 8.60 8.80 4.61
E5-09 Motor Induction Voltage Constant 1 (Ke) mVs/rad 268.8 256.9 271.9 260.2 286.8 314.9 300.8 292.3
E5-24 Motor Induction Voltage Constant 2 (Ke) mV/(r/min) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
E1-04 Maximum Output Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-05 Maximum Voltage V 190.0 190.0 190.0 190.0 190.0 190.0 190.0 190.0
E1-06 Base Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-09 Minimum Output Frequency Hz 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6
C5-17 Motor Inertia kgm
2
0.0016 0.0022 0.0081 0.0133 0.0133 0.017 0.027 0.044
L3-24
Motor Acceleration Time for Inertia
Calculations
s 0.092 0.068 0.125 0.139 0.083 0.070 0.082 0.092
n5-02 Motor Acceleration Time s 0.092 0.068 0.125 0.139 0.083 0.070 0.082 0.092
n8-49
d-Axis Current for High Efficiency
Control (OLV/PM)
% -7.5 -9.4 -13.9 -10.0 -15.0 -17.9 -22.7 -20.5
B.7 Parameters that Change with the Motor Code Selection
482 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Table B.22 400 V, 1450 r/min Type YASKAWA SST4 Series IPM Motor
No. Name Unit Default Settings
E5-01
Motor Code Selection 230E 230F 2310 2312 2313 2314 2315 2316
Voltage Class V 200 200 200 200 200 200 200 200
Rated Power kW 15 18 22 30 37 45 55 75
Rated Speed r/min 1450 1450 1450 1450 1450 1450 1450 1450
E5-02 Motor Rated Power kW 15.0 18.50 22.00 30.00 37.00 45.00 55.00 75.00
E5-03 Motor Rated Current A 54.2 68.3 75.2 102.0 131.3 160.4 191.7 257.3
E5-04 Number of Motor Poles 6 6 6 6 6 6 6 6
E5-05 Motor Stator Resistance (r1) 0.073 0.055 0.048 0.034 0.023 0.016 0.012 0.007
E5-06 Motor d-Axis Inductance (Ld) mH 2.94 2.23 2.08 1.67 1.39 0.94 0.82 0.56
E5-07 Motor q-Axis Inductance (Lq) mH 3.65 2.85 2.66 2.04 1.73 1.22 1.06 0.76
E5-09 Motor Induction Voltage Constant 1 (Ke) mVs/rad 305.1 297.6 355.8 355.4 324.0 302.4 337.2 323.4
E5-24 Motor Induction Voltage Constant 2 (Ke) mV/(r/min) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
E1-04 Maximum Output Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-05 Maximum Voltage V 190.0 190.0 190.0 190.0 190.0 190.0 190.0 190.0
E1-06 Base Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-09 Minimum Output Frequency Hz 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6
C5-17 Motor Inertia kgm
2
0.054 0.063 0.113 0.137 0.252 0.304 0.41 0.55
L3-24
Motor Acceleration Time for Inertia
Calculations
s 0.083 0.079 0.118 0.105 0.157 0.156 0.172 0.169
n5-02 Motor Acceleration Time s 0.083 0.079 0.118 0.105 0.157 0.156 0.172 0.169
n8-49
d-Axis Current for High Efficiency
Control (OLV/PM)
% -14.6 -16.4 -11.8 -10.5 -14.5 -17.4 -13.9 -17.5
No. Name Unit Default Settings
E5-01
Motor Code Selection 2332 2333 2335 2336 2338 233A 233B 233D 233E 233F 2340
Voltage Class V 400 400 400 400 400 400 400 400 400 400 400
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11 15 18 22
Rated Speed r/min 1450 1450 1450 1450 1450 1450 1450 1450 1450 1450 1450
E5-02 Motor Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0 15 18.50 22.00
E5-03 Motor Rated Current A 0.91 1.67 3.02 4.74 7.08 10.21 13.96 20.5 27.1 34.2 37.6
E5-04 Number of Motor Poles 6 6 6 6 6 6 6 6 6 6 6
E5-05 Motor Stator Resistance (r1) 12.616 7.340 2.724 1.232 1.509 1.112 0.720 0.393 0.291 0.220 0.192
E5-06 Motor d-Axis Inductance (Ld) mH 113.84 77.84 40.00 27.52 31.73 23.09 25.28 13.36 11.77 8.94 8.32
E5-07 Motor q-Axis Inductance (Lq) mH 157.16 103.56 60.80 37.00 40.88 34.39 35.20 18.44 14.60 11.40 10.64
E5-09 Motor Induction Voltage Constant 1 (Ke) mVs/rad 490.8 513.8 543.7 520.3 580.8 602.7 601.5 584.6 610.3 595.2 711.6
E5-24 Motor Induction Voltage Constant 2 (Ke) mV/(r/min) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
E1-04 Maximum Output Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0
E1-06 Base Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-09 Minimum Output Frequency Hz 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6
C5-17 Motor Inertia kgm
2
0.0016 0.0022 0.0081 0.0133 0.0133 0.017 0.027 0.044 0.054 0.063 0.113
L3-24
Motor Acceleration Time for Inertia
Calculations
s 0.092 0.068 0.125 0.139 0.083 0.070 0.082 0.092 0.083 0.079 0.118
n5-02 Motor Acceleration Time s 0.092 0.068 0.125 0.139 0.083 0.070 0.082 0.092 0.083 0.079 0.118
n8-49
d-Axis Current for High Efficiency
Control (OLV/PM)
% -9.5 -9.4 -13.7 -10.0 -12.9 -19.9 -22.8 -19.8 -14.5 -16.1 -11.8
B.7 Parameters that Change with the Motor Code Selection
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 483
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Table B.23 200 V, 1150 r/min Type YASKAWA SST4 Series IPM Motor
No. Name Unit Default Settings
E5-01
Motor Code Selection 2342 2343 2344 2345 2346 2347 2348 2349 234A 234C 234D
Voltage Class V 400 400 400 400 400 400 400 400 400 400 400
Rated Power kW 30 37 45 55 75 90 110 132 160 200 250
Rated Speed r/min 1450 1450 1450 1450 1450 1450 1450 1450 1450 1450 1450
E5-02 Motor Rated Power kW 30.00 37.00 45.00 55.00 75.00 90.00 110.00 132.00 160.00 200.00 250.00
E5-03 Motor Rated Current A 50.9 65.4 80.2 96.1 129.2 153.1 191.7 226.0 268.8 331.3 422.9
E5-04 Number of Motor Poles 6 6 6 6 6 6 6 6 6 6 6
E5-05 Motor Stator Resistance (r1) 0.136 0.091 0.064 0.048 0.028 0.024 0.015 0.011 0.007 0.006 0.003
E5-06 Motor d-Axis Inductance (Ld) mH 6.68 5.30 3.76 3.09 2.24 2.20 1.34 1.23 0.92 0.84 0.61
E5-07 Motor q-Axis Inductance (Lq) mH 8.16 6.80 4.88 4.75 3.03 3.23 2.16 1.67 1.30 1.25 0.89
E5-09 Motor Induction Voltage Constant 1 (Ke) mVs/rad 710.8 652.7 604.8 669.1 646.8 708.0 637.8 677.0 661.7 687.1 655.9
E5-24 Motor Induction Voltage Constant 2 (Ke) mV/(r/min) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0 0.0
E1-04 Maximum Output Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0
E1-06 Base Frequency Hz 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5 72.5
E1-09 Minimum Output Frequency Hz 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6 3.6
C5-17 Motor Inertia kgm
2
0.137 0.252 0.304 0.41 0.55 0.82 0.96 1.60 1.95 2.82 3.70
L3-24
Motor Acceleration Time for Inertia
Calculations
s 0.105 0.157 0.156 0.172 0.169 0.210 0.201 0.279 0.281 0.325 0.341
n5-02 Motor Acceleration Time s 0.105 0.157 0.156 0.172 0.169 0.210 0.201 0.279 0.281 0.325 0.341
n8-49
d-Axis Current for High Efficiency
Control (OLV/PM)
% -10.5 -15.6 -17.4 -21.7 -17.3 -19.6 -24.1 -15.1 -17.0 -19.8 -19.3
No. Name Unit Default Settings
E5-01
Motor Code Selection 2402 2403 2405 2406 2408 240A 240B 240D
Voltage Class V 200 200 200 200 200 200 200 200
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11
Rated Speed r/min 1150 1150 1150 1150 1150 1150 1150 1150
E5-02 Motor Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0
E5-03 Motor Rated Current A 1.77 3.44 5.94 9.17 14.79 20.21 27.40 39.0
E5-04 Number of Motor Poles 6 6 6 6 6 6 6 6
E5-05 Motor Stator Resistance (r1) 2.680 1.520 1.071 0.542 0.362 0.295 0.162 0.115
E5-06 Motor d-Axis Inductance (Ld) mH 30.55 15.29 17.48 11.98 8.60 9.54 5.31 4.44
E5-07 Motor q-Axis Inductance (Lq) mH 42.71 24.28 22.51 15.51 10.69 13.84 8.26 5.68
E5-09 Motor Induction Voltage Constant 1 (Ke) mVs/rad 313.1 313.1 345.3 342.9 363.8 384.3 379.9 370.2
E5-24 Motor Induction Voltage Constant 2 (Ke) mV/(r/min) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
E1-04 Maximum Output Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-05 Maximum Voltage V 190.0 190.0 190.0 190.0 190.0 190.0 190.0 190.0
E1-06 Base Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-09 Minimum Output Frequency Hz 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9
C5-17 Motor Inertia kgm
2
0.0022 0.0042 0.0081 0.0133 0.0168 0.027 0.044 0.054
L3-24
Motor Acceleration Time for Inertia
Calculations
s 0.080 0.081 0.078 0.088 0.066 0.070 0.085 0.071
n5-02 Motor Acceleration Time s 0.080 0.081 0.078 0.088 0.066 0.070 0.085 0.071
n8-49
d-Axis Current for High Efficiency
Control (OLV/PM)
% -8.4 -11.0 -10.7 -10.7 -9.4 -22.5 -22.2 -16.7
B.7 Parameters that Change with the Motor Code Selection
484 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Table B.24 400 V, 1150 r/min Type YASKAWA SST4 Series IPM Motor
No. Name Unit Default Settings
E5-01
Motor Code Selection 240E 240F 2410 2412 2413 2414 2415 2416
Voltage Class V 200 200 200 200 200 200 200 200
Rated Power kW 15 18 22 30 37 45 55 75
Rated Speed r/min 1150 1150 1150 1150 1150 1150 1150 1150
E5-02 Motor Rated Power kW 15 18.50 22.00 30.00 37.00 45.00 55.00 75.00
E5-03 Motor Rated Current A 55.9 65.4 77.0 103.5 126.0 153.1 188.5 260.4
E5-04 Number of Motor Poles 6 6 6 6 6 6 6 6
E5-05 Motor Stator Resistance (r1) 0.083 0.065 0.052 0.035 0.026 0.019 0.013 0.009
E5-06 Motor d-Axis Inductance (Ld) mH 3.50 2.92 2.55 2.03 1.59 1.24 0.98 0.70
E5-07 Motor q-Axis Inductance (Lq) mH 4.23 3.79 3.22 2.46 1.92 1.64 1.37 0.97
E5-09 Motor Induction Voltage Constant 1 (Ke) mVs/rad 364.5 404.5 445.1 444.4 447.3 470.8 422.4 418.3
E5-24 Motor Induction Voltage Constant 2 (Ke) mV/(r/min) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
E1-04 Maximum Output Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-05 Maximum Voltage V 190.0 190.0 190.0 190.0 190.0 190.0 190.0 190.0
E1-06 Base Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-09 Minimum Output Frequency Hz 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9
C5-17 Motor Inertia kgm
2
0.063 0.113 0.137 0.252 0.304 0.410 0.55 0.82
L3-24
Motor Acceleration Time for Inertia
Calculations
s 0.061 0.089 0.090 0.122 0.119 0.132 0.145 0.159
n5-02 Motor Acceleration Time s 0.061 0.089 0.090 0.122 0.119 0.132 0.145 0.159
n8-49
d-Axis Current for High Efficiency
Control (OLV/PM)
% -13.7 -15.2 -10.9 -9.8 -9.3 -11.5 -17.7 -17.1
No. Name Unit Default Settings
E5-01
Motor Code Selection 2432 2433 2435 2436 2438 243A 243B 243D 243E 243F 2440
Voltage Class V 400 400 400 400 400 400 400 400 400 400 400
Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11 15 18 22
Rated Speed r/min 1150 1150 1150 1150 1150 1150 1150 1150 1150 1150 1150
E5-02 Motor Rated Power kW 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11.0 15 18.50 22.00
E5-03 Motor Rated Current A 0.89 1.72 3.02 4.58 7.40 10.21 13.75 19.5 27.7 32.7 39.2
E5-04 Number of Motor Poles 6 6 6 6 6 6 6 6 6 6 6
E5-05 Motor Stator Resistance (r1) 10.720 6.080 4.336 2.143 1.428 1.199 0.648 0.460 0.325 0.260 0.209
E5-06 Motor d-Axis Inductance (Ld) mH 122.20 61.16 70.24 46.20 33.87 41.67 21.24 17.76 12.83 11.68 10.09
E5-07 Motor q-Axis Inductance (Lq) mH 170.80 97.12 90.04 60.28 42.98 69.15 33.04 22.72 17.19 15.16 16.25
E5-09 Motor Induction Voltage Constant 1 (Ke) mVs/rad 626.1 626.1 703.1 727.6 699.0 861.5 759.7 740.4 716.6 809.1 786.2
E5-24 Motor Induction Voltage Constant 2 (Ke) mV/(r/min) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
E1-04 Maximum Output Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0
E1-06 Base Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-09 Minimum Output Frequency Hz 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9
C5-17 Motor Inertia kgm
2
0.0022 0.0042 0.0081 0.0133 0.0168 0.027 0.044 0.054 0.063 0.113 0.137
L3-24
Motor Acceleration Time for Inertia
Calculations
s 0.080 0.081 0.078 0.088 0.066 0.070 0.085 0.071 0.061 0.089 0.090
n5-02 Motor Acceleration Time s 0.080 0.081 0.078 0.088 0.066 0.070 0.085 0.071 0.061 0.089 0.090
n8-49
d-Axis Current for High Efficiency
Control (OLV/PM)
% -8.4 -11.0 -9.9 -9.0 -11.4 -23.2 -22.1 -16.7 -20.2 -15.2 -27.7
B.7 Parameters that Change with the Motor Code Selection
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 485
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No. Name Unit Default Settings
E5-01
Motor Code Selection 2442 2443 2444 2445 2446 2447 2448 2449 244A 244C
Voltage Class V 400 400 400 400 400 400 400 400 400 400
Rated Power kW 30 37 45 55 75 90k 110 132 160 200
Rated Speed r/min 1150 1150 1150 1150 1150 1150 1150 1150 1150 1150
E5-02 Motor Rated Power kW 30.00 37.00 45.00 55.00 75.00 90.00 110.00 132.00 160.00 200.00
E5-03 Motor Rated Current A 51.8 63.0 76.6 93.1 128.1 153.1 186.5 221.9 269.8 336.5
E5-04 Number of Motor Poles 6 6 6 6 6 6 6 6 6 6
E5-05 Motor Stator Resistance (r1) 0.140 0.106 0.076 0.051 0.032 0.026 0.015 0.012 0.009 0.007
E5-06 Motor d-Axis Inductance (Ld) mH 8.12 6.43 4.96 3.99 2.97 2.44 1.87 1.49 1.41 1.22
E5-07 Motor q-Axis Inductance (Lq) mH 9.84 7.71 6.56 5.39 3.90 3.23 2.46 2.08 1.88 1.51
E5-09 Motor Induction Voltage Constant 1 (Ke) mVs/rad 888.8 857.7 941.6 853.8 829.6 835.6 833.4 848.6 889.1 915.0
E5-24 Motor Induction Voltage Constant 2 (Ke) mV/(r/min) 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
E1-04 Maximum Output Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-05 Maximum Voltage V 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0 380.0
E1-06 Base Frequency Hz 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5 57.5
E1-09 Minimum Output Frequency Hz 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9
C5-17 Motor Inertia kgm
2
0.252 0.304 0.410 0.55 0.82 0.96 1.60 1.95 2.82 3.70
L3-24
Motor Acceleration Time for Inertia
Calculations
s 0.122 0.119 0.132 0.145 0.159 0.155 0.211 0.214 0.256 0.268
n5-02 Motor Acceleration Time s 0.122 0.119 0.132 0.145 0.159 0.155 0.211 0.214 0.256 0.268
n8-49
d-Axis Current for High Efficiency
Control (OLV/PM)
% -9.8 -10.2 -11.5 -16.0 -15.7 -15.7 -14.7 -16.5 -14.1 -10.4
B.7 Parameters that Change with the Motor Code Selection
486 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Appendix: C
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 487
MEMOBUS/Modbus Communications
C.1 MEMOBUS/MODBUS CONFIGURATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488
C.2 COMMUNICATION SPECIFICATIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 489
C.3 CONNECTING TO A NETWORK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490
C.4 MEMOBUS/MODBUS SETUP PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . 492
C.5 DRIVE OPERATIONS BY MEMOBUS/MODBUS. . . . . . . . . . . . . . . . . . . . . . . . . . 495
C.6 COMMUNICATIONS TIMING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496
C.7 MESSAGE FORMAT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
C.8 MESSAGE EXAMPLES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 499
C.9 MEMOBUS/MODBUS DATA TABLE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 501
C.10 ENTER COMMAND. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
C.11 COMMUNICATION ERRORS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 514
C.12 SELF-DIAGNOSTICS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 515
488 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
C.1 MEMOBUS/Modbus Configuration
C.1 MEMOBUS/Modbus Configuration
Drives can be controlled from a PLC or other master device via serial communications using the MEMOBUS/Modbus
protocol.
MEMOBUS/Modbus communication can be configured using one master (PLC) and a maximum of 255 slaves. The
drive has slave functionality only, meaning that serial communication is normally initiated from the master and
responded to by the slaves.
The master performs serial communications with only one slave at a time. The address or node for each slave must be set
beforehand so that the master can communicate with the slave at that address. A slave that receives a command from the
master will perform the specified function and then send a response back to the master.
Figure C.1
Figure C.1 Connecting Multiple Drives to a PLC
Master (PLC or other)
Slave (Drive)
common_
TMonly
C.2 Communication Specifications
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 489
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C.2 Communication Specifications
MEMOBUS/Modbus specifications appear in the following table:
Item Specifications
Interface RS-422, RS-485
Communications Cycle Asynchronous (Start-stop synchronization)
Communication Parameters
Communication Speeds Available 1.2; 2.4; 4.8; 9.6; 19.2; 38.4; 57.6; 76.8; 115.2 kbps
Data length 8 bit (fixed)
Parity Select even, odd, or none
Stop bit 1 bit (fixed)
Protocol MEMOBUS/Modbus (using RTU mode only)
Max Number of Slaves 255 drives
490 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
C.3 Connecting to a Network
C.3 Connecting to a Network
This section explains how to connect the drive to a MEMOBUS/Modbus network and the network termination required.
Network Cable Connection
Follow the instructions below to connect the drive to a MEMOBUS/Modbus network.
1. With the power shut off, connect the communications cable to the drive and the master. Use terminals TB5 for
MEMOBUS/Modbus.
Figure C.2
Figure C.2 Serial Communications Cable Connection Terminals (TB5)
Note: Separate the communications cables from the main circuit cables and other wiring and power cables. Use shielded cables for the
communications cables, and properly shielded clamps to prevent problems with noise. When using RS-485 communications,
connect S+ to R+, and S- to R- as shown in the diagram below.
2. Check or set the termination resistor selection at all slaves. Use the description in Network Termination on
page 491 for slaves that are A1000 drives.
3. Switch the power on.
4. Set the parameters needed for serial communications (H5-01 through H5-12) using the digital operator.
5. Shut the power off and wait until the display on the digital operator goes out completely.
6. Turn the power back on.
7. The drive is now ready to begin communicating with the master.
Wiring Diagram for Multiple Connection
Figure C.3 and Figure C.4 explain the wiring diagrams for multiple connections using MEMOBUS/Modbus
communication.
RS-485 Interface
Figure C.3
Figure C.3 RS-485 Interface
Note: 1. Turn on the DIP switch on the drive that is located at the end of the network. All other slave devices must have this DIP switch set to
the OFF position.
2. Set H5-07 to 1 when using the RS-485 interface.
(TB5)
S
S+
R
R+
IG
Send ()
Send (+)
Receive ()
Receive (+)
Shield Ground
YEC_
TMon
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Drive
Drive
Drive
S2
S2
S2
S
S+
R
R+
IG
S
S+
R
R+
IG
S
S+
R
R+
IG
R
R+
S
S+
IG
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OFF
OFF
ON
common_
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C.3 Connecting to a Network
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RS-422 Interface
Figure C.4
Figure C.4 RS-422 Interface
Note: 1. Turn on the DIP switch on the drive that is located at the end of the network. All other slave devices must have this DIP switch set to
the OFF position.
2. Set H5-07 to 0 when using the RS-485 interface.
Network Termination
The two ends of the MEMOBUS/Modbus network line have to be terminated. The drive has a built in termination
resistor that can be enabled or disabled using DIP switch S2. If a drive is located at the end of a network line, enable the
termination resistor by setting DIP switch S2 to the ON position. Disable the termination resistor on all slaves that are not
located at the network line end.
Figure C.5 illustrates the setting of DIP switch S2.
To set the DIP switch on the terminal board, use an appropriate sized tool with a tip of approximately 8 mm in width.
Figure C.5
Figure C.5 Serial Communications Terminal and DIP Switch S2
R
R+
S
S+
IG
PLC
Drive
Drive
Drive
S
S+
R
R+
IG
S
S+
R
R+
IG
S
S+
R
R+
IG
S2
OFF
S2
OFF
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ON common_
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DIP switch S2
(OFF: default)
OFF
ON ON
RS-422
or
RS-485
R-
R+
DIP
switch
S2
S-
S+
+
-
Termination resistor (1/2 W 110 )
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492 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
C.4 MEMOBUS/Modbus Setup Parameters
C.4 MEMOBUS/Modbus Setup Parameters
MEMOBUS/Modbus Serial Communication
This section describes parameters necessary to set up MEMOBUS/Modbus communications.
H5-01: Drive Slave Address
Sets the drive slave address used for MEMOBUS/Modbus communications.
Note: After changing this parameter, the power must be cycled to enable the new setting.
For serial communications to work, each individual slave drive must be assigned a unique slave address. Setting H5-01
to any value besides 0 assigns the drive its address in the network. Slave address dont need to be assigned in sequential
order, but each address needs to be unique so that no two drives have the same address.
H5-02: Communication Speed Selection
Sets the MEMOBUS/Modbus communications speed.
Note: After changing this parameter, the power must be cycled to enable the new setting.
H5-03: Communication Parity Selection
Sets the parity used for MEMOBUS/Modbus communications.
Note: After changing this parameter, the power must be cycled to enable the new setting.
Setting 0: No parity
Setting 1: Even parity
Setting 2: Odd parity
H5-04: Stopping Method after Communication Error
Selects the stopping method after a communications error (CE) has occurred.
Setting 0: Ramp to stop (uses the deceleration time currently enabled)
Setting 1: Fast Stop (uses the deceleration time in C1-09)
Setting 2: Coast to stop
Setting 3: Alarm only (continue operation)
No.
<1> If the address is set to 0, no response will be provided during communications.
Name Setting Range Default
H5-01 Drive Slave Address 0 to FFH <1> 1FH
No. Name Setting Range Default
H5-02 Communication Speed Selection 0 to 5 3
H5-02 Communication Speed H5-02 Communication Speed
0 1200 bps 5 38400 bps
1 2400 bps 6 57600 bps
2 4800 bps 7 76800 bps
3 9600 bps 8 115200 bps
4 19200 bps
No. Name Setting Range Default
H5-03 Communication Parity Selection 0 to 2 0
No. Name Setting Range Default
H5-04 Stopping Method after Communication Error 0 to 3 3
C.4 MEMOBUS/Modbus Setup Parameters
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H5-05: Communication Fault Detection Selection
Enables or disabled the communication error (CE) detection for MEMOBUS/Modbus communications.
Setting 0: Disabled
No communication error detection. The drive continues operation.
Setting 1: Enabled
If the drive does not receive data from the master for longer than the time set to H5-09, then a CE fault will be triggered
and the drive will operate as determined by parameter H5-04.
H5-06: Drive Transmit Wait Time
Sets the time the drive waits after receiving data from a master until responding data.
Figure C.6
Figure C.6 Drive Transmit Wait Time Setting
H5-07: RTS Control Selection
Enables or disables RTS control.
Setting 0: Disabled. RTS is always on.
Use this setting when using RS-485 signals for communications.
Setting 1: Enabled. RTS switches while sending.
Use this setting when using RS-422 signals for communications.
H5-09: CE Detection Time
Sets the time the communications must be lost before the drive triggers a CE fault.
H5-10: Unit Selection for MEMOBUS/Modbus Register 0025H
Sets the unit for the output voltage monitor value in MEMOBUS/Modbus register 0025H.
Setting 0: 0.1 V units
Setting 1: 1 V units
No. Name Setting Range Default
H5-05 Communication Fault Detection Selection 0 or 1 1
No. Name Setting Range Default
H5-06 Drive Transmit Wait Time 5 to 65 ms 5 ms
No. Name Setting Range Default
H5-07 RTS Control Selection 0 or 1 1
No. Name Setting Range Default
H5-09 CE Detection Time 0.0 to 10.0 s 2.0 s
No. Name Setting Range Default
H5-10 Unit Selection for MEMOBUS/Modbus Register 0025H 0 or 1 0
Command message Response message Command message
PLCDrive PLCDrive DrivePLC
Time
24 bit length H5-06 setting
common_
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C.4 MEMOBUS/Modbus Setup Parameters
494 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
H5-11: Communications Enter Function Selection
Selects if an Enter command is needed to change parameter values via MEMOBUS/Modbus communications. Refer to
Enter Command on page 513.
Setting 0: Enter command necessary
Parameter changes become effective after an Enter command. An Enter command must only be sent after the last
parameter change, not for each single parameter.
Setting 1: Enter command not necessary
Parameter value changes become effective immediately without the need to send an Enter command.
H5-12: Run Command Method Selection
Selects the type of sequence used when the Run command source is set to MEMOBUS/Modbus communications (b1-02,
b1-16 = 2).
Setting 0: FWD/Stop, REV/Stop
Setting bit 0 of MEMOBUS/Modbus register will start and stop the drive in the forward direction. Setting bit 1 will start
and stop the drive in reverse.
Setting 1: Run/Stop, FWD/REV
Setting bit 0 of MEMOBUS/Modbus register will start and stop the drive. Setting bit 1 changes the direction.
No. Name Setting Range Default
H5-11 Communications Enter Function Selection 0 or 1 1
No. Name Setting Range Default
H5-12 Run Command Method Selection 0 or 1 0
C.5 Drive Operations by MEMOBUS/Modbus
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C.5 Drive Operations by MEMOBUS/Modbus
The drive operations that can be performed by MEMOBUS/Modbus communication depend on drive parameter settings.
This section explains the functions that can be used and related parameter settings.
Observing the Drive Operation
A PLC can perform the following actions with MEMOBUS/Modbus communications at any time regardless of
parameter settings (except H5-).
Observe drive status and drive control terminal status from a PLC.
Read and write parameters.
Set and reset faults.
Set multi-function inputs. Inputs settings from the input terminals S and from MEMOBUS/Modbus communications
are both linked by an OR operation.
Controlling the Drive
To start and stop the drive or set the frequency reference using MEMOBUS/Modbus communications, an external
reference must be selected and the parameters listed in Table C.1 must be adjusted accordingly.
Table C.1 Setting Parameters for Drive Control from MEMOBUS/Modbus
Refer to b1-01: Frequency Reference Selection 1 on page 137 and Refer to b1-02: Run Command Selection 1 on
page 138 for details on external reference parameter selections. Refer to Setting 2: External reference 1/2 selection on
page 219 for instructions on how to select external reference 1 and 2.
Reference Source Parameter Name Required Setting
External Reference 1
b1-01 Frequency Reference Selection 1 2
b1-02 Run Command Selection 1 2
External Reference 2
b1-15 Frequency Reference Selection 2 2
b1-16 Run Command Selection 2 2
496 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
C.6 Communications Timing
C.6 Communications Timing
To prevent overrun in the slave drive, the master should wait a certain time between sending messages to the same drive.
In the same way, the slave drive must wait before sending response messages to prevent an overrun in the master. This
section explains the message timing.
Command Messages from Master to Drive
In order to prevent overrun and data loss, the master must wait between receiving a response and sending the same type
of command as before to the same slave drive. The minimum wait time depends on the command as shown in the table
below.
Table C.2 Minimum Wait Time for Sending Messages
Figure C.7
Figure C.7 Minimum Wait Time for Sending Messages
A timer should be set in the master to check how long it takes for the slave drive(s) to respond to the master. If no
response is received within a certain amount of time, the master should try resending the message.
Response Messages from Drive to Master
If the drive receives a command from the master, it will process the data received and wait for the time set in H5-06 until
it responds. Increase H5-06 if the drive response causes overrun in the master.
Figure C.8
Figure C.8 Minimum Response Wait Time
Command Type
<1> If the drive receives command type 1 data during the minimum wait time, it will perform the command and then respond. However, if it
receives a command type 2 or 3 during that time, either a communication error will result or the command will be ignored.
Example Minimum Wait Time
1
Control command (Run, Stop)
Set inputs/outputs
Read monitors and parameter values
5 ms
2 Write parameters
H5-11 = 0: 50 ms
H5-11 = 1: 200ms
<1>
3 Save changes using an Enter command
200 ms to 2 s, depending on the number of
parameters that were changed <1>
Command message Response message Command message
PLCDrive PLCDrive DrivePLC
24 bit length
Master Send
Wait Time
Time
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Time
Command message Response message Command message
PLCDrive PLCDrive DrivePLC
24 bit length
H5-06
setting
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C.7 Message Format
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C.7 Message Format
Message Content
In MEMOBUS/Modbus communications, the master sends commands to the slave, and the slave responds. The message
format is configured for both sending and receiving as shown below, and the length of data packets depends on the
command (function) content.
Slave Address
The slave address in the message defines the note the message is sent to. Use addresses between 0 and FF (hex). If a
message with slave address 0 is sent (broadcast), the command from the master will be received by all slaves. The slaves
do not provide a response to a broadcast type message.
Function Code
The three types of function codes are shown in the table below.
Data
Configure consecutive data by combining the MEMOBUS/Modbus register address (test code in case of a loopback test)
and the data the register contains. The data length changes depending on the command details.
A drive MEMOBUS/Modbus register always has a data length of two bytes. Therefore data written into drive registers
must also always have a length of two bytes. Register data read out from the drive will always consist of two bytes.
Error Check
The drive uses a CRC-16 (cyclic redundancy check, checksum method) for checking data validity. Use the procedure
described below when calculating the CRC-16 checksum for command data or when verifying response data.
Command Data
When the drive receives data, it calculates the CRC-16 checksum from the data and compares it to the CRC-16 value
received within the message. Both must match before a command is processed.
An initial value of FFFFH (i.e., all 16 bits equal 1) must be used for CRC-16 calculations in the MEMOBUS/Modbus
protocol.
Calculate the CRC-16 checksum using the following steps:
1. The starting value is FFFFH.
2. Perform an XOR operation of this value and the slave address.
3. Right shift the result.
4. When the overflow bit of the shift operation becomes 1, perform an XOR operation of the result from step 3
above and the fix value A001H.
5. Repeat steps 3 and 4 until eight shift operations have been performed.
6. After eight shift operations, perform an XOR operation with the result and the next data in the message (function
code, register address, data). Continue with steps 3 to 5 until the last data has been processed.
7. The result of the last shift or XOR operation is the checksum.
SLAVE ADDRESS
FUNCTION CODE
DATA
ERROR CHECK
Function
Code
Function Name
Data Length (bytes)
Command Message Response Message
Minimum Maximum Minimum Maximum
03H Read MEMOBUS/Modbus registers 8 8 7 37
08H Loopback test 8 8 8 8
10H Write to multiple MEMOBUS/Modbus registers 11 41 8 8
C.7 Message Format
498 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
The example in Table C.3 shows the CRC-16 calculation of the slave address 02H and the function code 03H, yielding
the result 40D1H.
Note: This example does not show the calculation for a complete MEMOBUS/Modbus command. Normally data would follow in the
calculation.
Table C.3 CRC-16 Checksum Calculation Example
Response Data
To be sure that the data is valid, perform a CRC-16 calculation on the response message data as described above.
Compare the result to the CRC-16 checksum that was received within the response message. Both should match.
Description Calculation Overflow Description Calculation Overflow
Initial Value (FFFFH) 1111 1111 1111 1111 Function Code 03H 0000 0000 0000 0011
Address 02H 0000 0000 0000 0010 XOR w result 1000 0001 0011 1101
XOR w initial value 1111 1111 1111 1101 Shift 1 0100 0000 1001 1110 1
Shift 1 0111 1111 1111 1110 1 XOR w A001H 1010 0000 0000 0001
XOR w A001H 1010 0000 0000 0001 XOR result 1110 0000 1001 1111
XOR result 1101 1111 1111 1111 Shift 2 0111 0000 0100 1111 1
Shift 2 0110 1111 1111 1111 1 XOR w A001H 1010 0000 0000 0001
XOR w A001H 1010 0000 0000 0001 XOR result 1101 0000 0100 1110
XOR result 1100 1111 1111 1110 Shift 3 0110 1000 0010 0111 0
Shift 3 0110 0111 1111 1111 0 Shift 4 0011 0100 0001 0011 1
Shift 4 0011 0011 1111 1111 1 XOR w A001H 1010 0000 0000 0001
XOR w A001H 1010 0000 0000 0001 XOR result 1001 0100 0001 0010
XOR result 1001 0011 1111 1110 Shift 5 0100 1010 0000 1001 0
Shift 5 0100 1001 1111 1111 0 Shift 6 0010 0101 0000 0100 1
Shift 6 0010 0100 1111 1111 1 XOR w A001H 1010 0000 0000 0001
XOR w A001H 1010 0000 0000 0001 XOR result 1000 0101 0000 0101
XOR result 1000 0100 1111 1110 Shift 7 0100 0010 1000 0010 1
Shift 7 0100 0010 0111 1111 0 XOR w A001H 1010 0000 0000 0001
Shift 8 0010 0001 0011 1111 1 XOR result 1110 0010 1000 0011
XOR w A001H 1010 0000 0000 0001 Shift 8 0111 0001 0100 0001 1
XOR result 1000 0001 0011 1110 XOR w A001H 1010 0000 0000 0001
Perform operations with next data (function code)
XOR result 1101 0001 0100 0000
CRC-16
1101 0001 0100 0000
D140H
Continue from here with next data.
C.8 Message Examples
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C.8 Message Examples
Below are some examples of command and response messages.
Reading Drive MEMOBUS/Modbus Register Contents
Using the function code 03H (Read), a maximum of 16 MEMOBUS/Modbus registers can be read out at a time.
The following table shows message examples when reading status signals, error details, data link status, and frequency
references from the slave 2 drive.
Loopback Test
Function code 08H performs a loopback test. This test returns a response message with exactly the same content as the
command message and can be used to check communications between the master and slave. User-defined test code and
data values can be set.
The following table shows a message example when performing a loopback test with the slave 1 drive.
Command Message Response Message (normal) Response Message (fault)
Slave Address 02H Slave Address 02H Slave Address 02H
Function Code 03H Function Code 03H Function Code 83H
Starting No.
Upper 00H Data Quantity 08H Error Code 03H
Lower 20H
1st storage register
Upper 00H
CRC-16
Upper F1H
Data Quantity
Upper 00H Lower 65H Lower 31H
Lower 04H
Next storage
register
Upper 00H
CRC-16
Upper 45H Lower 00H
Lower F0H
Next storage
register
Upper 00H
Lower 00H
Next storage
register
Upper 01H
Lower F4H
CRC-16
Upper AFH
Lower 82H
Command Message Response Message (normal) Response Message (fault)
Slave Address 01H Slave Address 01H Slave Address 01H
Function Code 08H Function Code 08H Function Code 89H
Test Code
Upper 00H
Test Code
Upper 00H Error Code 01H
Lower 00H Lower 00H
CRC-16
Upper 86H
Data
Upper A5H
Data
Upper A5H Lower 50H
Lower 37H Lower 37H
CRC-16
Upper DAH
CRC-16
Upper DAH
Lower 8DH Lower 8DH
C.8 Message Examples
500 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Writing to Multiple Registers
Function code 10h allows the user to write multiple drive MEMOBUS/Modbus registers with one message. This process
works similar to reading registers, i.e., the address of the first register that is to be written and the data quantity must be
set in the command message. The data to be written must be consecutive so that the register addresses are in order,
starting from the specified address in the command message. The data order must be high byte, then lower byte.
The following table shows an example of a message where a forward operation has been set with a frequency reference
of 60.0 Hz for the slave 1 drive.
If parameter values are changed using the Write command, depending on the setting of H5-11, an Enter command will be
necessary to activate the data or save them. Refer to H5-11: Communications Enter Function Selection on page 494
and Refer to Enter Command on page 513 for detailed descriptions.
Note: For the number of bytes in the command message, take double the number of the data quantity.
Command Message Response Message (normal) Response Message (fault)
Slave Address 01H Slave Address 01H Slave Address 01H
Function Code 10H Function Code 10H Function Code 90H
Starting No.
Upper 00H
Starting No.
Upper 00H Error Code 02H
Lower 01H Lower 01H
CRC-16
Upper CDH
Data Quantity
Upper 00H
Data Quantity
Upper 00H Lower C1H
Lower 02H Lower 02H
Number of Bytes 04H
CRC-16
Upper 10H
Starting Data
Upper 00H Lower 08H
Lower 01H
Next Data
Upper 02H
Lower 58H
CRC-16
Upper 63H
Lower 39H
C.9 MEMOBUS/Modbus Data Table
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C.9 MEMOBUS/Modbus Data Table
Table below lists all MEMOBUS/Modbus data. There are three types of data: command data, monitor data, and
broadcast data.
Command Data
It is possible to both read and write command data.
Note: Bits that are not used should be set to 0. Refrain from writing to reserved registers.
Register No. Contents
0000H Reserved
0001H
Operation Commands and Multi-function Inputs
bit 0
H5-12 = 0: Forward Run Command (0 = Stop, 1 = Forward Run)
H5-12 = 1: Run Command (0 = Stop, 1 = Run)
bit 1
H5-12 = 0: Reverse Run Command (0 = Stop, 1 = Reverse Run)
H5-12 = 1: Forward/Reverse (0 = Forward, 1 = Reverse)
bit 2 External Fault (EF0)
bit 3 Fault Reset
bit 4
Multi-Function Input 1
Function is ComRef when H1-01 = 40 (Forward/Stop). Refer to d: Reference Settings on page 182 for ComRef explanations.
bit 5
Multi-Function Input 2
Function is ComCtrl when H1-02 = 41 (Reverse/Stop). Refer to d: Reference Settings on page 182 for ComCtrl explanations.
bit 6 Multi-Function Input 3
bit 7 Multi-Function Input 4
bit 8 Multi-Function Input 5
bit 9 Multi-Function Input 6
bit A Multi-Function Input 7
bit B Multi-Function Input 8
bit C to F Reserved
0002H Frequency Reference Units are determined by parameter o1-03.
0003H V/f Gain
0004H Torque Reference/Torque Limit, 0.1% units, signed
0005H Torque Compensation, 0.1% units, signed
0006H PID Target, 0.01% units, signed
0007H Analog Output Terminal FM Setting (10 V / 4000 H)
0008H Analog Output Terminal AM Setting (10 V / 4000 H)
0009H
Settings for Multi-Function Digital Outputs
bit 0 Multi-Function Contact Output (terminal M1-M2)
bit 1 Multi-Function Photocoupler Output 1 (terminal P1 - PC)
bit 2 Multi-Function Photocoupler Output 2 (terminal P2 - PC)
bit 3 to 5 Reserved
bit 6 Enables the function in bit 7
bit 7 Fault Contact Output (terminal MA/MB-MC)
bit 8 to F Reserved
000AH Pulse Output Terminal MP Setting, 1 Hz units, Setting Range: 0 to 32000
000BH to 000EH Reserved
000FH
Control Selection Setting
bit 0 Reserved
bit 1 PID Target Input
bit 2 Torque reference / torque limit input (enables the setting from MEMOBUS/Modbus)
bit 3 Torque compensation input (enables the setting from MEMOBUS/Modbus)
bit 4 to B Reserved
bit C Enable Terminal S5 Input for Broadcast Data
bit D Enable Terminal S6 Input for Broadcast Data
bit E Enable Terminal S7 Input for Broadcast Data
bit F Enable Terminal S8 Input for Broadcast Data
0010H to 001AH Reserved
001BH Analog Monitor Option AO-A3 Analog Output 1 (10 V/4000 H)
001CH Analog Monitor Option AO-A3 Analog Output 2 (10 V/4000 H)
001DH Digital Output Option DO-A3 Output (Binary)
001EH to 001FH Reserved
C.9 MEMOBUS/Modbus Data Table
502 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Monitor Data
Monitor data can be read only.
Register No. Contents
0020H
Drive Status 1
bit 0 During Run
bit 1 During Reverse
bit 2 Drive Ready
bit 3 Fault
bit 4 Data Setting Error
bit 5 Multi-Function Contact Output (terminal M1-M2)
bit 6 Multi-Function Photocoupler Output 1 (terminal P1 - PC)
bit 7 Multi-Function Photocoupler Output 2 (terminal P2 - PC)
bit 8 to bit D Reserved
bit E ComRef status
bit F ComCtrl status
0021H
Fault Contents 1
bit 0 Overcurrent (oC), Ground fault (GF)
bit 1 Overvoltage (ov)
bit 2 Drive Overload (oL2)
bit 3 Overheat 1 (oH1), Drive Overheat Warning (oH2)
bit 4 Dynamic Braking Transistor Fault (rr), Braking Resistor Overheat (rH)
bit 5 Reserved
bit 6 PID Feedback Loss (FbL / FbH)
bit 7 EF to EF8: External Fault
bit 8 CPF: Hardware Fault (includes oFx)
bit 9 Motor Overload (oL1), Overtorque Detection 1/2 (oL3/oL4), Undertorque Detection 1/2 (UL3/UL4)
bit A PG Disconnected (PGo), PG Hardware Fault (PGoH), Overspeed (oS), Excessive Speed Deviation (dEv),
bit B Main Circuit Undervoltage (Uv)
bit C Undervoltage (Uv1), Control Power Supply Undervoltage (Uv2), Soft Charge Circuit Fault (Uv3)
bit D Output Phase Loss (LF), Input Phase Loss (PF)
bit E MEMOBUS/Modbus Communication Error (CE), Option Communication Error (bUS)
bit F Operator Connection Fault (oPr)
0022H
Data Link Status
bit 0 Writing data or switching motors
bit 1
Reserved
bit 2
bit 3 Upper or lower limit error
bit 4 Data conformity error
bit 5 Writing to EEPROM
bit 6 to bit F Reserved
0023H Frequency Reference, <1>
0024H Output Frequency, <1>
0025H Output Voltage Reference, 0.1 V units (units are determined by parameter H5-10)
0026H Output Current, 0.1 A units
0027H Output Power
0028H Torque Reference
0029H
Fault Contents 2
bit 0 Reserved
bit 1 Ground Fault (GF)
bit 2 Input Phase Loss (PF)
bit 3 Output Phase Loss (LF)
bit 4 Braking Resistor Overheat (rH)
bit 5 Reserved
bit 6 Motor Overheat 2 (PTC input) (oH4)
bit 7 to bit F Reserved
C.9 MEMOBUS/Modbus Data Table
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002AH
Alarm Contents1
bit 0, 1 Reserved
bit 2 Run Command Input Error (EF)
bit 3 Drive Baseblock (bb)
bit 4 Overtorque Detection 1 (oL3)
bit 5 Heatsink Overheat (oH)
bit 6 Overvoltage (ov)
bit 7 Undervoltage (Uv)
bit 8 Cooling Fan Error (FAn)
bit 9 MEMOBUS/Modbus Communication Error (CE)
bit A Option Communication Error (bUS)
bit B Undertorque Detection 1/2 (UL3/UL4)
bit C Motor Overheat (oH3)
bit D PID Feedback Loss (FbL, FbH)
bit E Reserved
bit F Serial Communication Transmission Error (CALL)
002BH
Input Terminal Status
bit 0 Terminal S1 Closed
bit 1 Terminal S2 Closed
bit 2 Terminal S3 Closed
bit 3 Terminal S4 Closed
bit 4 Terminal S5 Closed
bit 5 Terminal S6 Closed
bit 6 Terminal S7 Closed
bit 7 Terminal S8 Closed
bit 8 to bit F Reserved
002CH
Drive Status 2
bit 0 During Run
bit 1 Zero Speed
bit 2 Speed Agree
bit 3 User Speed Agree
bit 4 Frequency Detection 1
bit 5 Frequency Detection 2
bit 6 Drive Ready
bit 7 During Undervoltage
bit 8 During Baseblock
bit 9 Frequency Reference from Operator Keypad
bit A Run Command from Operator Keypad
bit B Over/Undertorque 1, 2
bit C Frequency Reference Loss
bit D During Fault Restart
bit E Fault
bit F Communication Timeout
002DH
Output Terminal Status
bit 0 Multi-Function Contact Output (terminal M1-M2)
bit 1 Multi-Function Photocoupler Output 1 (terminal P1 - PC)
bit 2 Multi-Function Photocoupler Output 2 (terminal P2 - PC)
bit 3 to 6 Reserved
bit 7 Fault Contact Output (terminal MA/MB-MC)
bit 8 to F Reserved
002EH Reserved
002FH Frequency Reference Bias (from Up/Down 2 Function), 0.1% units
0030H Reserved
0031H DC Bus Voltage, 1 Vdc units
0032H Torque Reference (U1-09), 1% units
0033H Reserved
0034H Product Code 1 [ASCII], Product Type (A0 for A1000)
0035H Product Code 2 [ASCII], Region Code
0036H, 0037H Reserved
0038H PID Feedback, 0.1% units, unsigned, 100% / max. output frequency
0039H PID Input, 0.1% units, signed, 100% / max. output frequency
003AH PID Output, 0.1% units, signed, 100% / max. output frequency
003BH, 003CH Reserved
Register No. Contents
C.9 MEMOBUS/Modbus Data Table
504 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
003DH
Communications Error Contents <3>
bit 0 CRC Error
bit 1 Data Length Error
bit 2 Reserved
bit 3 Parity Error
bit 4 Overrun Error
bit 5 Framing Error
bit 6 Timeout
bit 7 to bit F Reserved
003EH
Output Frequency
r/min <4>
003FH 0.01% units
0040H to 004AH Used for various monitors U1-. Refer to U: Monitors on page 455 for parameter details.
004BH
Drive status (U1-12)
bit 0 During Run
bit 1 During Zero Speed
bit 2 During Reverse Run
bit 3 During Fault Reset Signal Input
bit 4 During Speed Agree
bit 5 Drive Ready
bit 6 Alarm
bit 7 Fault
bit 8 During Operation Error (oPE)
bit 9 During Momentary Power Loss
bit A Motor 2 selected
bit B Reserved
bit E ComRef status, NetRef status
bit F ComCtrl status, NetCtrl status
004CH to 007EH Used for various monitors U1-, U4-, U5- and U6-. Refer to U: Monitors on page 455 for parameter details.
007FH Alarm Code, Refer to Alarm Register Contents on page 511 for alarm codes.
0080H to 0097H
Used for monitors U2-, U3-. Refer to U: Monitors on page 455 for parameter details and Refer to Fault Trace Contents on page 510 for register
value descriptions.
0098H High Word of Accumulated Operation Time Monitor, 10H units (U4-01)
0099H Low Word of Accumulated Operation Time Monitor, 1H units (U4-01)
009AH High Word of Cooling Fan Operation Time Monitor (U4-03)
009BH Low Word of Cooling Fan Operation Time Monitor (U4-03)
009CH to 00AAH Reserved
00ABH Drive Rated Current <2>
00ACH
Motor Speed (U1-05)
r/min units <4>
00ADH 0.01% units
00AEH, 00AFH Reserved
00B0H Option Code Connected to CN5-A
Register contains ASCII code of the option card.
DI-A3 = 0x01
DO-A3 = 0x02
AI-A3 = 0x03
AO-A3 = 0x04
PG-B3 = 0x11
PG-X3 = 0x12
Communication Option: Register contains ASCII code of 1st and 3rd digit of the option card type number.
Example: Register value is 5343H for SC if a SI-C3 option card is installed.
00B1H Reserved
00B2H Option Code Connected to CN5-B
00B3H Option Code Connected to CN5-C
00B4H Reserved
00B5H
Frequency Reference After Soft-
starter (U1-16)
r/min units <4>
00B6H 0.01% units
00B7H
Frequency Reference
r/min <4>
00B8H 0.01% units
00B9H to 00BEH Reserved
00BFH Lists the last to digits of operation error code oPE.
Register No. Contents
C.9 MEMOBUS/Modbus Data Table
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00C0H
Fault contents 3
bit 1 Undervoltage (Uv1)
bit 2 Control Power Supply Undervoltage (Uv2)
bit 3 Soft Charge Circuit Fault (Uv3)
bit 4 Reserved
bit 5 Ground Fault (GF)
bit 6 Overcurrent (oC)
bit 7 Overvoltage (ov)
bit 8 Heatsink Overheat (oH)
bit 9 Heatsink Overheat (oH1)
bit A Motor Overload (oL1)
bit B Drive Overload (oL2)
bit C Overtorque Detection 1 (oL3)
bit D Overtorque Detection 2 (oL4)
bit E Dynamic Braking Transistor Fault (rr)
bit F Braking Resistor Overheat (rH)
00C1H
Fault contents 4
bit 0 External Fault at input terminal S3 (EF3)
bit 1 External Fault at input terminal S4 (EF4)
bit 2 External Fault at input terminal S5 (EF5)
bit 3 External Fault at input terminal S6 (EF6)
bit 4 External Fault at input terminal S7 (EF7)
bit 5 External Fault at input terminal S8 (EF8)
bit 6 Cooling Fan Error (FAn)
bit 7 Overspeed (os)
bit 8 Excessive Speed Deviation (dEv)
bit 9 PG Disconnected (PGo)
bit A Input Phase Loss (PF)
bit B Output Phase Loss (LF)
bit C Motor Overheat (PTC input) (oH3)
bit D Digital Operator Connection Fault (oPr)
bit E EEPROM Write Error (Err)
bit F Motor Overheat Fault (PTC input) (oH4)
00C2H
Fault contents 5
bit 0 MEMOBUS/Modbus Communication Error (CE)
bit 1 Option Communication Error (bUS)
bit 2, 3 Reserved
bit 4 Control Fault (CF)
bit 5 Zero Servo Fault (SvE)
bit 6 Option External Fault (EF0)
bit 7 PID Feedback Loss (FbL)
bit 8 Undertorque Detection 1 (UL3)
bit 9 Undertorque Detection 2 (UL4)
bit A High Slip Braking Overload (oL7)
bit B to E Reserved
bit F Hardware Fault (includes oFx)
00C3H
Fault contents 6
bit 0 Reserved
bit 1 Z Pulse Fall Detection (dv1)
bit 2 Z Pulse Noise Fault Detection (dv2)
bit 3 Inversion Detection (dv3)
bit 4 Inversion Prevention Detection (dv4)
bit 5 Current Imbalance (LF2)
bit 6 Pullout Detection (STo)
bit 7 PG Hardware Fault (PGoH)
bit 8 SI-T3 Watchdog Error (E5)
bit 9 Reserved
bit A Too many speed search restarts (SEr)
bit B to F Reserved
Register No. Contents
C.9 MEMOBUS/Modbus Data Table
506 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
00C4H
Fault contents 7
bit 0 PID Feedback Loss (FbH)
bit 1 External Fault 1, input terminal S1 (EF1)
bit 2 External Fault 2, input terminal S2 (EF2)
bit 3 Mechanical Weakening Detection 1 (oL5)
bit 4 Mechanical Weakening Detection 2 (UL5)
bit 5 Current Offset Fault (CoF)
bit 6, 7 Reserved
bit 8 DriveWorksEZ Fault (dWFL)
bit 9 to B Reserved
bit C Output Voltage Detection Fault (voF)
bit D Braking Resistor Fault (rF)
bit E Braking Transistor Overload Fault (boL)
bit F Reserved
00C5H
bit 0, 1 Reserved
bit 2 Node Setup Fault (nSE)
bit 3 to F Reserved
00C6H, 00C7H Reserved
00C8H
Alarm contents 2
bit 0 Undervoltage (Uv)
bit 1 Overvoltage (ov)
bit 2 Heatsink Overheat (oH)
bit 3 Drive Overheat (oH2)
bit 4 Overtorque 1 (oL3)
bit 5 Overtorque 2 (oL4)
bit 6 Run Commands Input Error (EF)
bit 7 Drive Baseblock (bb)
bit 8 External Fault 3, input terminal S3 (EF3)
bit 9 External Fault 4, input terminal S4 (EF4)
bit A External Fault 5, input terminal S5 (EF5)
bit B External Fault 6, input terminal S6 (EF6)
bit C External Fault 7, input terminal S7 (EF7)
bit D External Fault 8, input terminal S8 (EF8)
bit E Cooling Fan Error (FAn)
bit F Overspeed (oS)
00C9H
Alarm contents 3
bit 0 Excessive Speed Deviation (dEv)
bit 1 PG Disconnected (PGo)
bit 2 Digital Operator Connection Fault (oPr)
bit 3 MEMOBUS/Modbus Communication Error (CE)
bit 4 Option Communication Error (bUS)
bit 5 Serial Communication Transmission Error (CALL)
bit 6 Motor Overload (oL1)
bit 7 Drive Overload (oL2)
bit 8 Reserved
bit 9 Option Card External fault (EF0)
bit A Motor 2 Switch command input during run (rUn)
bit B Reserved
bit C Serial Communication Transmission Error (CALL)
bit D Undertorque Detection 1 (UL3)
bit E Undertorque Detection 2 (UL4)
bit F MEMOBUS/Modbus Test Mode Fault (SE)
00CAH
Alarm contents 4
bit 0 Reserved
bit 1 Motor Overheat 1 (PTC Input) (oH3)
bit 2 to 5 Reserved
bit 6 PID Feedback Loss (FbL)
bit 7 PID Feedback Loss (FbH)
bit 9 Drive Disabled (dnE)
bit A PG Disconnected (PGo)
bit B to F Reserved
Register No. Contents
C.9 MEMOBUS/Modbus Data Table
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 507
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00CBH
Alarm Contents 5
bit 0 SI-T3 Watchdog Error (E5)
bit 1 SI-T3 Station Address Setting Error (AEr)
bit 2 SI-T3 Comm. Cycle Setting Error (CyC)
bit 3 High Current Alarm (HCA)
bit 4 Cooling Fan Maintenance Time (LT-1)
bit 5 Soft Charge Bypass Relay Maintenance Time (LT-2)
bit 6 Reserved
bit 7 SI-S EEPROM Error (EEP)
bit 8 External Fault 1 (input terminal S1) (EF1)
bit 9 External Fault 2 (input terminal S2) (EF2)
bit A Safe Disable Input (HbbF)
bit B Safe Disable Input (Hbb)
bit C Mechanical Weakening Detection 1 (oL5)
bit D Mechanical Weakening Detection 2 (UL5)
bit E, F Reserved
00CCH
Alarm Contents 6
bit 0 Output Voltage Detection Fault (VoF)
bit 1 IGBT Maintenance Time (90%) (TrPC)
bit 2 Capacitor Maintenance Time (LT-3)
bit 3 IGBT Maintenance Time (50%) (LT-4)
bit 4 Braking Transistor Overload Fault (boL)
bit 5 to 7 Reserved
bit 8 DriveWorksEZ Alarm (dWAL)
bit 9 to F Reserved
00CDH to 00CFH Reserved
00D0H
CPF Contents 1
bit 0, 1 Reserved
bit 2 A/D Conversion Error (CPF02)
bit 3 PWM Data Fault (CPF03)
bit 4, 5 Reserved
bit 6 EEPROM Memory Data Error (CPF06)
bit 7 Terminal Board Connection Error (CPF07)
bit 8 EEPROM Serial Communications Fault (CPF08)
bit 9, A Reserved
bit B RAM Fault (CPF11)
bit C FLASH Memory Fault (CPF12)
bit D Watchdog Circuit Exception (CPF13)
bit E Control Circuit Fault (CPF14)
bit F Reserved
00D1H
CPF Contents 2
bit 0 Clock Fault (CPF16)
bit 1 Timing Fault (CPF17)
bit 2 Control Circuit Fault (CPF18)
bit 3 Control Circuit Fault (CPF19)
bit 4 Hardware fault at power up (CPF20)
bit 5 Hardware fault at communication start up (CPF21)
bit 6 A/D Conversion Fault (CPF22)
bit 7 PWM Feedback Fault (CPF23)
bit 8 Drive Unit Signal Fault (CPF24)
bit 9 Terminal board is not properly connected. (CPF25)
bit A ASIC BB Circuit Error (CPF26)
bit B ASIC PWM Setting Register Error (CPF27)
bit C ASIC PWM Pattern Error (CPF28)
bit D ASIC On-delay Error (CPF29)
bit E ASIC BBON Error (CPF30)
bit F ASIC Code Error (CPF31)
00D2H
bit 0 ASIC Start-up Error (CPF32)
bit 1 Watch-dog Error (CPF33)
bit 2 ASIC Power/Clock Error (CPF34)
bit 3 External A/D Converter Error (CPF35)
bit 4 to F Reserved
00D3H to 00D7H oFA0x Contents (CN5-A)
Register No. Contents
C.9 MEMOBUS/Modbus Data Table
508 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
00D8H
oFA0x Contents (CN5-A)
bit 0 Option Compatibility Error (oFA00)
bit 1 Option not properly connected (oFA01)
bit 2 Same type of option card already connected (oFA02)
bit 3, 4 Reserved
bit 5 A/D Conversion Error (oFA05)
bit 6 Option Response Error (oFA06)
bit 7 to F Reserved
00D9H
oFA1x Contents (CN5-A)
bit 0 Option RAM Fault (oFA10)
bit 1 Option Operation Mode Fault (SLMOD) (oFA11)
bit 2 Drive Receive CRC Error (oFA12)
bit 3 Drive Receive Frame Error (oFA13)
bit 4 Drive Receive Abort Error (oFA14)
bit 5 Option Receive CRC Error (oFA15)
bit 6 Option Receive Frame Error (oFA16)
bit 7 Option Receive Abort Error (oFA17)
bit 8 to F Reserved
00DAH to 00DBH Reserved
00DBH
oFA3x Contents (CN5-A)
bit 0 Comm. ID Error (oFA30)
bit 1 Model Code Error (oFA31)
bit 2 Sumcheck Error (oFA32)
bit 3 Comm. option timeout waiting for response (oFA33)
bit 4 MEMOBUS Timeout (oFA34)
bit 5 Drive timeout waiting for response (oFA35)
bit 6 CI Check Error (oFA36)
bit 7 Drive timeout waiting for response (oFA37)
bit 8 Control Command Selection Error (oFA38)
bit 9 Drive timeout waiting for response (oFA39)
bit A Control Response Selection 1 Error (oFA40)
bit B Drive timeout waiting for response (oFA41)
bit C Control Response Selection 2 Error (oFA42)
bit D Control Response Selection Error (oFA43)
bit E, F Reserved
00DCH
oFb0x Contents (CN5-B)
bit 0 Option compatibility error (oFb00)
bit 1 Option not properly connected (oFb01)
bit 2 Same type of option card already connected (oFb02)
bit 3, 4 Reserved
bit 5 A/D Conversion Fault (oFb05)
bit 6 Option Response Error (oFb06)
bit 7 to F Reserved
00DDH
oFb1x Contents (CN5-B)
bit 0 Option RAM Fault (oFb10)
bit 1 Option Operation Mode Fault (SLMOD) (oFb11)
bit 2 Drive Receive CRC Error (oFb12)
bit 3 Drive Receive Frame Error (oFb13)
bit 4 Drive Receive Abort Error (oFb14)
bit 5 Option Receive CRC Error (oFb15)
bit 6 Option Receive Frame Error (oFb16)
bit 7 Option Receive Abort Error (oFb17)
bit 8 to F Reserved
00DEH to 00DFH Reserved
Register No. Contents
C.9 MEMOBUS/Modbus Data Table
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00E0H
oFb3x Contents (CN5-B)
bit 0 Comm. ID Error (oFb30)
bit 1 Model Code Error (oFb31)
bit 2 Sumcheck Error (oFb32)
bit 3 Comm. option timeout waiting for response (oFb33)
bit 4 MEMOBUS Timeout (oFb34)
bit 5 Drive timeout waiting for response (oFb35)
bit 6 CI Check Error (oFb36)
bit 7 Drive timeout waiting for response (oFb37)
bit 8 Control Command Selection Error (oFb38)
bit 9 Drive timeout waiting for response (oFb39)
bit A Control Response Selection 1 Error (oFb40)
bit B Drive timeout waiting for response (oFb41)
bit C Control Response Selection 2 Error (oFb42)
bit D Control Response Selection Error (oFb43)
bit E, F Reserved
00E1H
oFC0x Contents (CN5-C)
bit 0 Option compatibility error (oFC00)
bit 1 Option not properly connected (oFC01)
bit 2 Same type of option card already connected (oFC02)
bit 3, 4 Reserved
bit 5 A/D Conversion Fault (oFC05)
bit 6 Option Response Error (oFC06)
bit 7 to F Reserved
00E2H
oFC1x Contents (CN5-C)
bit 0 Option RAM Fault (oFC10)
bit 1 Option Operation Mode Fault (SLMOD) (oFC11)
bit 2 Drive Receive CRC Error (oFC12)
bit 3 Drive Receive Frame Error (oFC13)
bit 4 Drive Receive Abort Error (oFC14)
bit 5 Option Receive CRC Error (oFC15)
bit 6 Option Receive Frame Error (oFC16)
bit 7 Option Receive Abort Error (oFC17)
bit 8 to F Reserved
00E3H, 00E4H Reserved
00E5H
oFC3x Contents (CN5-C)
bit 0 Comm. ID Error (oFC30)
bit 1 Model Code Error (oFC31)
bit 2 Sumcheck Error (oFC32)
bit 3 Comm. option timeout waiting for response (oFC33)
bit 4 MEMOBUS Timeout (oFC34)
bit 5 Drive timeout waiting for response (oFC35)
bit 6 CI Check Error (oFC36)
bit 7 Drive timeout waiting for response (oFC37)
bit 8 Control Command Selection Error (oFC38)
bit 9 Drive timeout waiting for response (oFC39)
bit A Control Response Selection 1 Error (oFC40)
bit B Drive timeout waiting for response (oFC41)
bit C Control Response Selection 2 Error (oFC42)
bit D Control Response Selection Error (oFC43)
bit E, F Reserved
00E6H to 00FFH Reserved
<1> Units are determined by parameter o1-03.
<2> This value's number of decimal places depends on the drive model and the Heavy/Normal duty selection in parameter C6-01. The value will
have two decimal places (0.01 A) if the drive is set for a Maximum Applicable Motor Capacity up to 11 kW (refer to Table A.2 and Table A.3)
and one decimal place (0.1 A) if the set Maximum Applicable Motor Capacity is higher than 11 kW.
<3> The contents of a communication error are saved until the fault is reset.
<4> Depending on the motor used, the correct motor pole number must be set to parameter E2-04, E4-04, or E5-05.
Register No. Contents
C.9 MEMOBUS/Modbus Data Table
510 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Broadcast Messages
Data can be written from the master to all slave devices at the same time.
The slave address in a broadcast command message must be set to 00H. All slaves will receive the message, but will not
respond.
Fault Trace Contents
The table below shows the fault codes that can be read out by MEMOBUS/Modbus commands from the U2-
monitor parameters.
Table C.4 Fault Trace / History Register Contents
Register No. Contents
0001H
Digital Input Command
bit 0 Forward Run (0: Stop 1: Run)
bit 1 Direction Command (0: Forward, 1: Reverse)
bit 2, 3 Reserved
bit 4 External Fault
bit 5 Fault Reset
bit 6 to B Reserved
bit C Multi-Function Digital Input S5
bit D Multi-Function Digital Input S6
bit E Multi-Function Digital Input S7
bit F Multi-Function Digital Input S8
0002H Frequency Reference 30000/100%
Fault Code Fault Name Fault Code Fault Name
0002H Undervoltage (Uv1) 0096H Hardware fault at communication start up (CPF21)
0003H Control Power Supply Undervoltage (Uv2) 0097H A/D Conversion Fault (CPF22)
0004H Soft Charge Circuit Fault (Uv3) 0098H PWM Feedback Fault (CPF23)
0006H Ground Fault (GF) 0099H Drive Unit Signal Fault (CPF24)
0007H Overcurrent (oC) 009AH Terminal board is not properly connected. (CPF25)
0008H Overvoltage (ov) 009BH ASIC BB Circuit Error (CPF26)
0009H Heatsink Overheat (oH) 009CH ASIC PWM Setting Register Error (CPF27)
000AH Heatsink Overheat (oH1) 009DH ASIC PWM Pattern Error (CPF28)
000BH Motor Overload (oL1) 009EH ASIC On-Delay Error (CPF29)
000CH Drive Overload (oL2) 009FH ASIC BBON Error (CPF30)
000DH Overtorque Detection 1 (oL3) 00A0H ASIC Code Error (CPF31)
000EH Overtorque Detection 2 (oL4) 00A1H ASIC Start-p Error (CPF32)
000FH Dynamic Braking Transistor (rr) 00A2H Watch-dog Error (CPF33)
0010H Braking Resistor Overheat (rH) 00A3H ASIC Power/Clock Error (CPF34)
0011H External Fault at input terminal S3 (EF3) 00A4H External A/D Converter Error (CPF35)
0012H External Fault at input terminal S4 (EF4) 0101H Option compatibility error (oFA00)
0013H External Fault at input terminal S5 (EF5) 0102H Option not properly connected (oFA01)
0014H External Fault at input terminal S6 (EF6) 0103H Same type of option card already connected (oFA02)
0015H External Fault at input terminal S7 (EF7) 0106H A/D Conversion Error (oFA05)
0016H External Fault at input terminal S8 (EF8) 0107H Option Response Error (oFA06)
0018H Overspeed (oS) 0111H Option RAM Fault (oFA10)
0019H Excessive Speed Deviation (dEv) 0112H Option Operation Mode Fault (SLMOD) (oFA11)
001AH PG Disconnect (PGo) 0113H Drive Receive CRC Error (oFA12)
001BH Input Phase Loss (PF) 0114H Drive Receive Frame Error (oFA13)
001CH Output Phase Loss (LF) 0115H Drive Receive Abort Error (oFA14)
001DH Motor Overheat (PTC input) (oH3) 0116H Option Receive CRC Error (oFA15)
001EH Digital Operator Connection (oPr) 0117H Option Receive Frame Error (oFA16)
001FH EEPROM Write Error (Err) 0118H Option Receive Abort Error (oFA17)
0020H Motor Overheat (PTC input) (oH4) 0131H Comm. ID Error (oFA30)
0021H MEMOBUS/Modbus Communication Error (CE) 0132H Model Code Error (oFA31)
0022H Option Communication Error (bUS) 0133H Sumcheck Error (oFA32)
0025H Control fault (CF) 0134H Comm. option timeout waiting for response (oFA33)
0026H Zero-Serve Fault (SvE) 0135H MEMOBUS Timeout (oFA34)
0027H Option External Fault (EF0) 0136H Drive timeout waiting for response (oFA35)
0028H PID Feedback Loss (FbL) 0137H CI Check Error (oFA36)
0029H Undertorque Detection 1 (UL3) 0138H Drive timeout waiting for response (oFA37)
002AH Undertorque Detection 2 (UL4) 0139H Control Command Selection Error (oFA38)
C.9 MEMOBUS/Modbus Data Table
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Alarm Register Contents
The table below shows the alarm codes that can be read out from MEMOBUS/Modbus register 007FH.
Table C.5 Alarm Register 007FH Contents
002BH High Slip Braking Overload (oL7) 013AH Drive timeout waiting for response (oFA39)
0030H Hardware Fault (including oFx) 013BH Control Response Selection 1 Error (oFA40)
0032H Z Pulse Fall Detection (dv1) 013CH Drive timeout waiting for response (oFA41)
0033H Z Pulse Noise Fault Detection (dv2) 013DH Control Response Selection 2 Error (oFA42)
0034H Inversion Detection (dv3) 013EH Control Response Selection Error (oFA43)
0035H Inversion Prevention Detection (dv4) 0201H Option Connection Error (oFb01)
0036H Output Current Imbalance (LF2) 0202H Same type of option card already connected (oFb02)
0037H Pullout Detection (Sto) 0205H A/D Conversion Error (oFb05)
0038H PG Hardware Fault (PGoH) 0206H Option Response Error (oFb06)
003BH Too many speed search restarts (SEr) 0210H Option RAM Fault (oFb10)
0041H PID Feedback Loss (FbH) 0211H Option Operation Mode Fault (SLMOD) (oFb11)
0042H External Fault 1, input terminal S1 (EF1) 0212H Drive Receive CRC Error (oFb12)
0043H External Fault 2, input terminal S2 (EF2) 0213H Drive Receive Frame Error (oFb13)
0044H Mechanical Weakening Detection 1 (oL5) 0214H Drive Receive Abort Error (oFb14)
0045H Mechanical Weakening Detection 2 (UL5) 0215H Option Receive CRC Error (oFb15)
0046H Current Offset Fault (CoF) 0216H Option Receive Frame Error (oFb16)
0047H PLC Detection Error 1 (PE1) 0217H Option Receive Abort Error (oFb17)
0048H PLC Detection Error 2 (PE2) 0231H Comm. ID Error (oFb30)
0049H DriveWorksEZ Fault (dWFL) 0232H Model Code Error (oFb31)
004DH Output Voltage Detection Fault (voF) 0233H Sumcheck Error (oFb32)
004EH Braking Resistor Transistor Fault (rF) 0234H Comm. option timeout waiting for response (oFb33)
004FH Braking Transistor Overload Fault (boL) 0235H MEMOBUS Timeout (oFb34)
0052H Node Setup Fault (nSE) 0236H Drive timeout waiting for response (oFb35)
0083H A/D Conversion Error (CPF02) 0237H CI Check Error (oFb36)
0084H PWM Data Fault (CPF03) 0238H Drive timeout waiting for response (oFb37)
0087H EEPROM Memory Data Error (CPF06) 0239H Control Command Selection Error (oFb38)
0088H Terminal Board Connection Error (CPF07) 023AH Drive timeout waiting for response (oFb39)
0089H EEPROM Serial Communication Fault (CPF08) 023BH Control Response Selection 1 Error (oFb40)
008CH RAM Fault (CPF11) 023CH Drive timeout waiting for response (oFb41)
008DH Flash Memory Circuit Exception (CPF12) 023DH Control Response Selection 2 Error (oFb42)
008EH Watchdog Circuit Exception (CPF13) 023EH Control Response Selection Error (oFb43)
008FH Control Circuit Fault (CPF14) 0300H Option Compatibility Error (oFC00)
0091H Clock Fault (CPF16) 0301H Option not properly connected (oFC01)
0092H Timing Fault (CPF17) 0302H Same type of option card already connected (oFC02)
0093H Control Circuit Fault (CPF18) 0305H A/D Conversion Error (oFC05)
0094H Control Circuit Fault (CPF19) 0306H Option Response Error (oFC06)
0095H Hardware fault at power up (CPF20)
Alarm Code Fault Name Alarm Code Fault Name
0001H Undervoltage (Uv) 0020H MEMOBUS/Modbus Test Mode Fault (SE)
0002H Overvoltage (ov) 0022H Motor Overheat (oH3)
0003H Heatsink Overheat (oH) 0027H PID Feedback Loss (FbL)
0004H Drive Overheat (oH2) 0028H PID Feedback Loss (FbH)
0005H Overtorque 1 (oL3) 002AH Drive Disabled (dnE)
0006H Overtorque 2 (oL4) 002BH PG Disconnected (PGo)
0007H Run commands input error (EF) 0031H SI-T3 Watchdog Error (E5)
0008H Drive Baseblock (bb) 0032H SI-T3 Station Address Setting Error (AEr)
0009H External Fault 3, input terminal S3 (EF3) 0033H SI-T3 Comm. Cycle Setting Error (CyC)
000AH External Fault 4, input terminal S4 (EF4) 0034H High Current Alarm (HCA)
000BH External Fault 5, input terminal S5 (EF5) 0035H Cooling Fan Maintenance Time (LT-1)
000CH External Fault 6, input terminal S6 (EF6) 0036H Capacitor Maintenance Time (LT-2)
000DH External Fault 7, input terminal S7 (EF7) 0038H SI-S EEPROM Error (EEP)
000EH External Fault 8, input terminal S8 (EF8) 0039H External Fault (input terminal S1) (EF1)
000FH Cooling Fan Error (FAN) 003AH External Fault (input terminal S2) (EF2)
0010H Overspeed (oS) 003BH Safe Disable Input (HbbF)
0011H Excessive Speed Deviation (dEv) 003CH Safe Disable Input (Hbb)
0012H PG Disconnected (PGo) 003DH Mechanical Weakening Detection 1 (oL5)
0014H MEMOBUS/Modbus Communication Error (CE) 003EH Mechanical Weakening Detection 2 (UL5)
0015H Option Communication Error (bUS) 003FH PLC Alarm (PA1)
0016H Serial Communication Transmission Error (CALL) 0040H PLC Alarm (PA2)
Fault Code Fault Name Fault Code Fault Name
C.9 MEMOBUS/Modbus Data Table
512 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
0017H Motor Overload (oL1) 0041H Output Voltage Detection Fault (voF)
0018H Drive Overload (oL2) 0042H IGBT Maintenance Time (90%) (TrPC)
001AH Option Card External Fault (EF0) 0043H Soft Charge Bypass Relay Maintenance Time (LT-3)
001BH Motor Switch command input during run (rUn) 0044H IGBT Maintenance Time (50%) (LT-4)
001DH Serial Communication Transmission Error (CALL) 0045H Braking Transistor Overload (boL)
001EH Undertorque Detection 1 (UL3) 0049H DriveWorksEZ Alarm (dWAL)
001FH Undertorque Detection 2 (UL4)
Alarm Code Fault Name Alarm Code Fault Name
C.10 Enter Command
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C.10 Enter Command
When writing parameters to the drive from the PLC using MEMOBUS/Modbus communication, parameter H5-11
determines if an Enter command must be issued to enable these parameters or not. This sections the types of Enter
commands and how they work.
Enter Command Types
The drive supports two types of Enter commands as shown in the table below. An Enter command is enabled by writing
0 to register number 0900H or 0910H. These registers can only be written to. An error will occur if the user attempts to
read from these registers.
Table C.6 Enter Command Types
Note: Because the EEPROM can be written to a maximum of 100,000 times, refrain from writing to the EEPROM too often. The Enter
command registers are write-only. Consequently, if these registers are read, then the register address will be invalid (Error code:
02H). An Enter command is not required if reference or broadcast data are sent to the drive.
Enter Command Settings when Upgrading the Drive
When replacing earlier Yaskawa drive models with the A1000 and keeping the MEMOBUS/Modbus communications
settings, parameter H5-11 needs to be set in accordance with how the Enter command was set up in the older drive. H5-
11 determines if an Enter command is needed or not in order to activate parameter changes in the drive.
If upgrading from a G7 or F7 series drive to an A1000, set parameter H5-11 to 0.
If upgrading from a V7 series drive to an A1000, set parameter H5-11 to 1.
H5-11 and the Enter Command
Register No. Description
0900H
Writes data into the EEPROM (non-volatile memory) of the drive and enables the data in RAM at the same time. Parameter changes remain even if the power
supply is cycled.
0910H Writes data in the RAM only. Parameter changes are lost when the drive is shut off.
H5-11 Settings H5-11 = 0 H5-11 = 1
Drive being replaced G7, F7 V7
How parameter settings are enabled When the Enter command is received from the master. As soon as the value is changed.
Upper/lower limit check
Upper/lower limit check is performed, taking the settings of related
parameters into account.
Checks only the upper/lower limits of the parameters that were
changed.
Default value of related parameters
Not affected. The settings of related parameters remain unchanged.
They must be changed manually if needed.
Default settings of related parameters are changed automatically.
Error handling when setting multiple
parameters
Data is accepted even if one setting is invalid. The invalid setting will
be discarded. No error message occurs.
Error occurs if only one setting is invalid. All data that was sent are
discarded.
514 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
C.11 Communication Errors
C.11 Communication Errors
MEMOBUS/Modbus Error Codes
A list of MEMOBUS/Modbus errors appears below.
When an error occurs, remove whatever caused the error and restart communications.
Slave Not Responding
In the following situations, the slave drive will ignore the command message sent from the master, and not send a
response message:
When a communications error (overrun, framing, parity, or CRC-16) is detected in the command message.
When the slave address in the command message and the slave address in the drive do not match (remember to set the
slave address for the drive using H5-01).
When the gap between two blocks (8 bit) of a message exceeds 24 bits.
When the command message data length is invalid.
Note: If the slave address specified in the command message is 00H, all slaves execute the write function, but do not return response
messages to the master.
Error Code
Error Name
Cause
01H
Function Code Error
Attempted to set a function code from a PLC other than 03H, 08H, and 10H.
02H
Register Number Error
A register number specified in the command message does not exist.
Attempted to send a broadcast message using other register numbers than 0001H or 0002H.
03H
Bit Count Error
Read data or write data is greater than 16 bits. Invalid command message quantity.
In a write message, the Number of Data Items contained within the message does not equal twice the amount of data words (i.e., the total of Data 1+ Data
2, etc.).
21H
Data Setting Error
Control data or parameter write data is outside the allowable setting range.
Attempted to write a contradictory parameter setting.
22H
Write Mode Error
During run, the user attempted to write a parameter that cannot be written to during run.
During an EEPROM memory data error (CPF06), the master attempted to write to a parameter other than A1-00 to A1-05, E1-03, or o2-04.
Attempted to write to read-only data.
23H
DC Bus Undervoltage Write Error
During an undervoltage situation, the master attempted to write to parameters that cannot be written to during undervoltage.
24H
Write Error During Parameter Process
Master attempted writing to the drive while the drive was processing parameter data.
C.12 Self-Diagnostics
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C.12 Self-Diagnostics
The drive has a built-in self-diagnosing function of the serial communication interface circuits. To perform the self-
diagnosis function, use the following procedure.
DANGER! Electrical Shock Hazard. Do not connect or disconnect wiring while the power is on. Failure to comply will result in death or
serious injury. Before servicing, disconnect all power to the equipment. The internal capacitor remains charged even after the power
supply is turned off. The charge indicator LED will extinguish when the DC bus voltage is below 50 Vdc. To prevent electric shock, wait
at least one minute after all indicators are OFF and measure the DC bus voltage level to confirm safe level.
1. Turn on the power to the drive.
2. Note the present terminal S6 function selection setting (H1-06) and set it for the communications test mode (H1-
06 = 67).
3. Turn off the power to the drive.
Figure C.9
Figure C.9 Terminal Connections for Communication Self-Diagnostics
4. With the power off, wire the drive as shown in the following diagram, connecting terminals R+ and S+, R- and S-,
and S6 and SC.
5. Set jumper S3 to source mode (internal power supply).
6. Turn the power to the drive back on.
7. During normal operation, the drive will display . This indicates that the communications test mode is
operating normally.
When a fault occurs, the drive will display on the keypad display.
8. Turn off the power supply.
9. Remove the wire jumpers from terminal R+, R-, S+, S-, and S6-SC. Set back jumper S3 to its original position.
Set terminal S6 to its original function.
10. Return to normal operation.
E(G) FM AC AM P1 P2 PC SC
S1 S2 S3 S4 S5 S6 S7 S8
SC A1 A2 A3 +V AC -V
HC
H1
H2
DM+
DM
IG
R+
R
S+
S
RP
MP
YEC_TMonly
C.12 Self-Diagnostics
516 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Appendix: D
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 517
Standards Compliance
This appendix explains the guidelines and criteria for maintaining CE and UL standards.
D.1 SECTION SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518
D.2 EUROPEAN STANDARDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520
D.3 UL STANDARDS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 526
D.4 SAFE DISABLE INPUT FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 530
518 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
D.1 Section Safety
D.1 Section Safety
DANGER
Electrical Shock Hazard
Do not connect or disconnect wiring while the power is on.
Failure to comply will result in death or serious injury.
W ARNING
Electrical Shock Hazard
Do not operate equipment with covers removed.
Failure to comply could result in death or serious injury.
The diagrams in this section may show drives without covers or safety shields to show details. Be sure to reinstall
covers or shields before operating the drives and run the drives according to the instructions described in this manual.
Always ground the motor-side grounding terminal.
Improper equipment grounding could result in death or serious injury by contacting the motor case.
Do not touch any terminals before the capacitors have fully discharged.
Failure to comply could result in death or serious injury.
Before wiring terminals, disconnect all power to the equipment. The internal capacitor remains charged even after the
power supply is turned off. After shutting off the power, wait for at least the amount of time specified on the drive
before touching any components.
Do not allow unqualified personnel to perform work on the drive.
Failure to comply could result in death or serious injury.
Installation, maintenance, inspection, and servicing must be performed only by authorized personnel familiar with
installation, adjustment and maintenance of AC drives.
Do not perform work on the drive while wearing loose clothing, jewelry or without eye protection.
Failure to comply could result in death or serious injury.
Remove all metal objects such as watches and rings, secure loose clothing, and wear eye protection before beginning
work on the drive.
Do not remove covers or touch circuit boards while the power is on.
Failure to comply could result in death or serious injury.
D.1 Section Safety
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W ARNING
Fire Hazard
Tighten all terminal screws to the specified tightening torque.
Loose electrical connections could result in death or serious injury by fire due to overheating of electrical connections.
Do not use an improper voltage source.
Failure to comply could result in death or serious injury by fire.
Verify that the rated voltage of the drive matches the voltage of the incoming power supply before applying power.
Do not use improper combustible materials.
Failure to comply could result in death or serious injury by fire.
Attach the drive to metal or other noncombustible material.
NOTICE
Observe proper electrostatic discharge procedures (ESD) when handling the drive and circuit boards.
Failure to comply may result in ESD damage to the drive circuitry.
Never connect or disconnect the motor from the drive while the drive is outputting voltage.
Improper equipment sequencing could result in damage to the drive.
Do not use unshielded wire for control wiring.
Failure to comply may cause electrical interference resulting in poor system performance. Use shielded twisted-pair
wires and ground the shield to the ground terminal of the drive.
Do not allow unqualified personnel to use the product.
Failure to comply could result in damage to the drive or braking circuit.
Carefully review instruction manual TOBPC72060000 when connecting a braking option to the drive.
Do not modify the drive circuitry.
Failure to comply could result in damage to the drive and will void warranty.
Yaskawa is not responsible for modification of the product made by the user. This product must not be modified.
Check all the wiring to ensure that all connections are correct after installing the drive and connecting other
devices.
Failure to comply could result in damage to the drive.
520 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
D.2 European Standards
D.2 European Standards
Figure D.1
Figure D.1 CE Mark
The CE mark indicates compliance with European safety and environmental regulations. It is required for engaging in
business and commerce in Europe.
European standards include the Machinery Directive for machine manufacturers, the Low Voltage Directive for
electronics manufacturers, and the EMC guidelines for controlling noise.
This drive displays the CE mark based on the EMC guidelines and the Low Voltage Directive.
Low Voltage Directive: 2006/95/EC
EMC Guidelines: 2004/108/EC
Devices used in combination with this drive must also be CE certified and display the CE mark. When using drives
displaying the CE mark in combination with other devices, it is ultimately the responsibility of the user to ensure
compliance with CE standards. After setting up the device, verify that conditions meet European standards.
CE Low Voltage Directive Compliance
This drive has been tested according to European standard IEC61800-5-1, and it fully complies with the Low Voltage
Directive.
To comply with the Low Voltage Directive, be sure to meet the following conditions when combining this drive with
other devices:
Area of Use
Do not use drives in areas with pollution higher than severity 2 and overvoltage category 3 in accordance with IEC664.
Installing Fuses on the Input Side
Always install input fuses. Select fuses according to Table D.1.
Table D.1 Recommended Input Fuse Selection
Model
CIMR-A
Fuse Type
Manufacturer: Bussmann
Model Fuse Ampere Rating (A)
Three-Phase 200 V Class
2A0004 FWH-70B 70
2A0006 FWH-70B 70
2A0008 FWH-70B 70
2A0010 FWH-70B 70
2A0012 FWH-70B 70
2A0018 FWH-90B 90
2A0021 FWH-90B 90
2A0030 FWH-100B 100
2A0040 FWH-200B 200
2A0056 FWH-200B 200
2A0069 FWH-200B 200
2A0081 FWH-300A 300
2A0110 FWH-300A 300
2A0138 FWH-350A 350
2A0169 FWH-400A 400
2A0211 FWH-400A 400
2A0250 FWH-600A 600
2A0312 FWH-700A 700
2A0360 FWH-800A 800
2A0415 FWH-1000A 1000
YEC_common
D.2 European Standards
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Guarding Against Harmful Materials
When installing IP00 enclosure drives, use an enclosure that prevents foreign material from entering the drive from
above or below.
Grounding
The drive is designed to be used in T-N (grounded neutral point) networks. If installing the drive in other types of
grounded systems, contact your Yaskawa representative for instructions.
EMC Guidelines Compliance
This drive is tested according to European standards EN61800-3: 2004, and complies with the EMC guidelines.
EMC Filter Installation
The following conditions must be met to ensure continued compliance with guidelines. Refer to EMC Filters on
page 524 for EMC filter selection.
Installation Method
Verify the following installation conditions to ensure that other devices and machinery used in combination with this
drive also comply with EMC guidelines.
1. Install an EMC noise filter to the input side specified by Yaskawa for compliance with European standards.
2. Place the drive and EMC noise filter in the same enclosure.
3. Use braided shield cable for the drive and motor wiring, or run the wiring through a metal conduit.
Three-Phase 400 V Class
4A0002 FWH-40B 40
4A0004 FWH-50B 50
4A0005 FWH-70B 70
4A0007 FWH-70B 70
4A0009 FWH-90B 90
4A0011 FWH-90B 90
4A0018 FWH-80B 80
4A0023 FWH-100B 100
4A0031 FWH-125B 125
4A0038 FWH-200B 200
4A0044 FWH-250A 250
4A0058 FWH-250A 250
4A0072 FWH-250A 250
4A0088 FWH-250A 250
4A0103 FWH-250A 250
4A0139 FWH-350A 350
4A0165 FWH-400A 400
4A0208 FWH-500A 500
4A0250 FWH-600A 600
4A0296 FWH-700A 700
4A0362 FWH-800A 800
4A0414 FWH-800A 800
4A0515 FWH-1000A 1000
4A0675 FWH-1200A 1200
Model
CIMR-A
Fuse Type
Manufacturer: Bussmann
Model Fuse Ampere Rating (A)
D.2 European Standards
522 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
4. Keep wiring as short as possible. Ground the shield on both the drive side and the motor side.
Figure D.2
Figure D.2 Installation Method
5. Ground the largest possible surface area of the shield to the metal conduit when using braided shield cable.
Yaskawa recommends using a cable clamp.
Figure D.3
Figure D.3 Ground Area
6. Connect a DC reactor to minimize harmonic distortion. See page 525.
A Drive D Metal conduit
B 10 m max cable length between drive and motor E Ground wire should be as short as possible.
C Motor
A Braided shield cable C Cable clamp (conductive)
B Metal panel
A
B
D
E
C
M
U/T1
V/T2
W/T3
U
V
W
YEC_common
C B
A
YEC_common
D.2 European Standards
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 523
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Three-Phase 200 V / 400 V Class
Figure D.4
Figure D.4 EMC Filter and Drive Installation for CE Compliance (Three-Phase 200 V / 400 V Class)
A Ground the cable shield G Motor
B Enclosure panel H Cable clamp
C Metal plate I Ground plate (scrape off any visible paint)
D Grounding surface (remove any paint or sealant) J EMC noise filter
E Drive K Make sure the ground wire is grounded
F Motor cable (braided shield cable, max. 10 m)
L3
L2
L1
L3 L2 L1 L3 L2 L1
E
PE
K
B
C
D
E
D
F H
I
J
G
A
YEC_common
D.2 European Standards
524 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
EMC Filters
The drive should be installed with the EMC filters listed below in order to comply with the EN61800-3 requirements.
Note: If the Safe Disable function of the drive is part of the safety concept of a machine or installation and used for a safe stop
according to EN60204-1, stop category 0, use only filters manufactured by Schaffner as listed below.
Table D.2 EN61800-3 Filters
Model
CIMR-A
Filter Data (Manufacturer: Schaffner)
Type Rated Current (A)
Weight
(kg)
Dimensions
[W x D x H]
(mm)
Y x X Figure
Three-Phase 200 V Class
2A0004
FS5972-10-07 10 1.2 141 46 330 115 313
1
2A0006
2A0008
2A0010
FS5972-18-07 18 1.3 141 46 330 115 313
2A0012
2A0018
FS5972-35-07 35 2.1 206 50 355 175 336 2A0021
2A0030
2A0040
FS5972-60-07 60 4.0 236 65 408 205 390
2A0056
2A0069
FS5972-100-35 100 3.4 90 150 330 65 255
2
2A0081
2A0110
FS5972-170-40 170 6.0 120 170 451 102 365
2A0138
2A0169
FS5972-250-37 250 11.7 130 240 610 90 498
2A0211
2A0250
FS5972-410-99 410 10.5 260 115 386 235 120
3
2A0312
2A0360
FS5972-600-99 600 11 260 135 386 235 120
2A0415
Three-Phase 400 V Class
4A0002
FS5972-10-07 10 1.1 141 46 330 115 313
1
4A0004
4A0005
4A0007
4A0009
FS5972-18-07 18 1.7 141 46 330 115 313
4A0011
4A0018
FS5972-35-07 35 2.1 206 50 355 175 336 4A0023
4A0031
4A0038
FS5972-60-07 60 4 236 65 408 202 390 4A0044
4A0058
4A0072
FS5972-100-35 100 3.4 90 150 330 65 255
2
4A0088
4A0103
FS5972-170-35 170 4.7 120 170 451 102 365 4A0139
4A0165
4A0208 FS5972-250-37 250 11.7 130 240 610 90 498
4A0250
FS5972-410-99 400 10.5 260 115 386 235 120
3
4A0296
4A0362
4A0414
FS5972-600-99 600 11 260 135 386 235 120
4A0515
4A0675 FS5972-800-99 800 31.5 300 160 716 275 210
D.2 European Standards
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 525
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Figure D.5
Figure D.5 EMC Filter Dimensions
DC Reactors for EN 61000-3-2 Compliance
Table D.3 DC Reactors for Harmonics Reduction
Note: Contact Yaskawa for information about DC reactors for other models.
Drive Model
CIMR-A
DC Reactor
Model Rating
200V Three-Phase Units
2A0004
UZDA-B
5.4 A
8 mH
2A0006
400 V Three-Phase Units
4A0002
UZDA-B
3.2 A
28 mH
4A0004
HX
H
D
X H
W
D Y
W
Y
Figure 1
Figure 3
Figure 2
W
Y
X
X
D
YEC_common
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D.3 UL Standards
D.3 UL Standards
The UL/cUL mark applies to products in the United States and Canada. It indicates that UL has performed product
testing and evaluation, and determined that their stringent standards for product safety have been met. For a product to
receive UL certification, all components inside that product must also receive UL certification.
Figure D.6
Figure D.6 UL/cUL Mark
UL Standards Compliance
This drive is tested in accordance with UL standard UL508C and complies with UL requirements. The conditions
described below must be met to maintain compliance when using this drive in combination with other equipment:
Installation Area
Do not install the drive to an area greater than pollution severity 2 (UL standard).
Main Circuit Terminal Wiring
Cable Connectors
Yaskawa recommends using UL-listed copper wires (rated at 75C), and closed-loop connectors or CSA-certified ring
connectors sized for the selected wire gauge to maintain proper clearances when wiring the drive. Use the correct crimp
tool to install connectors per manufacturer recommendation. Table D.4 lists a suitable closed-loop connector
manufactured by JST Corporation.
Table D.4 Closed-Loop Crimp Terminal Size (JIS C 2805) (same for 200 V and 400 V)
Wire Gauge
mm
2
(AWG)
Terminal Screws Crimp Terminal Model Numbers
Tightening Torque
Nm (lbin.)
0.75 (18)
M3.5 R1.25-3.5 0.8 to 1.0 (7.1 to 8.9)
M4 R1.25-4 1.2 to 1.5 (10.6 to 13.3)
1.25 (16)
M3.5 R1.25-3.5 0.8 to 1.0 (7.1 to 8.9)
M4 R1.25-4 1.2 to 1.5 (10.6 to 13.3)
2 (14)
M3.5 R2-3.5 0.8 to 1.0 (7.1 to 8.9)
M4 R2-4 1.2 to 1.5 (10.6 to 13.3)
M5 R2-5 2.0 to 2.5 (17.7 to 22.1)
M6 R2-6 4.0 to 5.0 (35.4 to 44.3)
3.5/5.5 (12/10)
M4 R5.5-4 1.2 to 1.5 (10.6 to 13.3)
M5 R5.5-5 2.0 to 2.5 (17.7 to 22.1)
M6 R5.5-6 4.0 to 5.0 (35.4 to 44.3)
M8 R5.5-8 9.0 to 11.0 (79.7 to 97.4)
8 (8)
M4 8-4 1.2 to 1.5 (10.6 to 13.3)
M5 R8-5 2.0 to 2.5 (17.7 to 22.1)
M6 R8-6 4.0 to 5.0 (35.4 to 44.3)
M8 R8-8 9.0 to 11.0 (79.7 to 97.4)
14 (6)
M4 14-4 <1> 1.2 to 1.5 (10.6 to 13.3)
M5 R14-5 2.0 to 2.5 (17.7 to 22.1)
M6 R14-6 4.0 to 5.0 (35.4 to 44.3)
M8 R14-8 9.0 to 11.0 (79.7 to 97.4)
22 (4)
M10 R22-10 18.0 to 23.0 (159.0 to 204.0)
M12 R22-12 32.0 to 40.0 (284.0 to 354.0)
30/38 (3/2) M12 R38-12 32.0 to 40.0 (284.0 to 354.0)
50/60 (1/ 1/0) M12 R60-12 32.0 to 40.0 (284.0 to 354.0)
80 (2/0) M12 R80-12 32.0 to 40.0 (284.0 to 354.0)
100 (4/0) M12 R100-12 32.0 to 40.0 (284.0 to 354.0)
150 (250/300MCM)
M10 150-10 18.0 to 23.0 (159.0 to 204.0)
M12 150-12 32.0 to 40.0 (284.0 to 354.0)
200 (400MCM)
M10 200-10 18.0 to 23.0 (159.0 to 204.0)
M12 R200-12 32.0 to 40.0 (284.0 to 354.0)
325 (600/650MCM) M12 325-12 32.0 to 40.0 (284.0 to 354.0)
D.3 UL Standards
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 527
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Note: Use crimp insulated terminals or insulated shrink tubing for wiring connections. Wires should have a continuous maximum
allowable temperature of 75C 600 Vac UL-approved vinyl-sheathed insulation.
Input Fuse Installation
The installation manual specifies that branch circuit protection should be provided by any of the following:
Non-time delay Class J, T, or CC fuses sized at 300% of the drive input rating
Time delay Class J, T, or CC fuses sized at 175% of the drive input rating
Time-delay Class RK5 fuses sized at 225% of the drive input rating
Table D.5 Recommended Input Fuse Selection
<1> Use the specified crimp terminals (Model 14.NK4) when using CIMR-A2A0030, 2A0040, 4A0018, and 4A0023 with 14 mm
2
(6 AWG).
Model
CIMR-A
Fuse Type
Manufacturer: Bussmann
Model Fuse Ampere Rating (A)
Three-Phase 200 V Class
2A0004 FWH-70B 70
2A0006 FWH-70B 70
2A0008 FWH-70B 70
2A0010 FWH-70B 70
2A0012 FWH-70B 70
2A0018 FWH-90B 90
2A0021 FWH-90B 90
2A0030 FWH-100B 100
2A0040 FWH-200B 200
2A0056 FWH-200B 200
2A0069 FWH-200B 200
2A0081 FWH-300A 300
2A0110 FWH-300A 300
2A0138 FWH-350A 350
2A0169 FWH-400A 400
2A0211 FWH-400A 400
2A0250 FWH-600A 600
2A0312 FWH-700A 700
2A0360 FWH-800A 800
2A0415 FWH-1000A 1000
Three-Phase 400 V Class
4A0002 FWH-40B 40
4A0004 FWH-50B 50
4A0005 FWH-70B 70
4A0007 FWH-70B 70
4A0009 FWH-90B 90
4A0011 FWH-90B 90
4A0018 FWH-80B 80
4A0023 FWH-100B 100
4A0031 FWH-125B 125
4A0038 FWH-200B 200
4A0044 FWH-250A 250
4A0058 FWH-250A 250
4A0072 FWH-250A 250
4A0088 FWH-250A 250
4A0103 FWH-250A 250
4A0139 FWH-350A 350
4A0165 FWH-400A 400
4A0208 FWH-500A 500
4A0250 FWH-600A 600
4A0296 FWH-700A 700
D.3 UL Standards
528 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Low Voltage Wiring for Control Circuit Terminals
Wire low voltage wires with NEC Class 1 circuit conductors. Refer to national state or local codes for wiring. Use a class
2 (UL listed) power supply for the control circuit terminal when not using the drives internal control power supply.
Table D.6 Control Circuit Terminal Power Supply
Drive Short-Circuit Rating
This drive has undergone the UL short-circuit test, which certifies that during a short circuit in the power supply, the
current flow will not rise above 100,000 amps at 240 V for 200 V class drives and 480 V for 400 V class drives.
The MCCB, breaker protection, and fuse ratings shall be equal to or greater than the short-circuit tolerance of the
power supply being used.
Suitable for use on a circuit capable of delivering not more than 100,000 RMS symmetrical amperes for 240 V in 200
V class drives (up to 480 V for 400 V class drives) motor overload protection.
Drive Motor Overload Protection
Set parameter E2-01 (motor rated current) to the appropriate value to enable motor overload protection. The internal
motor overload protection is UL listed and in accordance with the NEC and CEC.
E2-01 Motor Rated Current
Setting Range: Model Dependent
Default Setting: Model Dependent
Parameter E2-01 (motor rated current) protects the motor if parameter L1-01 is not set to 0 (default is 1, enabling
protection for standard induction motors).
If Auto-Tuning has been performed successfully, the motor data entered to T1-04 is automatically written into parameter
E2-01. If Auto-Tuning has not been performed, manually enter the correct motor rated current to parameter E2-01.
L1-01 Motor Overload Protection Selection
The drive has an electronic overload protection function (oL1) based on time, output current, and output frequency,
which protects the motor from overheating. The electronic thermal overload function is UL-recognized, so it does not
require an external thermal relay for single motor operation.
This parameter selects the motor overload curve used according to the type of motor applied.
Table D.7 Overload Protection Settings
4A0362 FWH-800A 800
4A0414 FWH-800A 800
4A0515 FWH-1000A 1000
4A0675 FWH-1200A 1200
Input / Output Terminal Signal Power Supply Specifications
Multi-function photocoupler output P1, P2, PC Requires class 2 power supply
Multi-function digital inputs S1, S2, S3, S4, S5, S6, S7, S8, SC
Use the internal control power supply of the drive or an external class 2
power supply.
Multi-function analog inputs +V, V, A1, A2, A3, AC
Pulse train input RP, AC
Pulse train output MP, AC
Safe disable inputs H1, H2, HC
Safe disable outputs DM+, DM- Requires class 2 power supply
Setting Description
0 Disabled Disabled the drives internal motor overload protection.
1 Standard fan cooled motor (default)
Selects protection characteristics for a standard self cooled motor with limited cooling capabilities when running below
the rated speed. The motor overload detection level (oL1) is automatically reduces when running below the motor rated
speed.
2 Drive duty motor with a speed range of 1:10
Selects protection characteristics for a motor with self-cooling capability within a speed range of 10:1. The motor
overload detection level (oL1) is automatically reduced when running below 1/10 of the motor rated speed.
Model
CIMR-A
Fuse Type
Manufacturer: Bussmann
Model Fuse Ampere Rating (A)
D.3 UL Standards
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 529
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When connecting the drive to more than one motor for simultaneous operation, disable the electronic overload protection
(L1-01 = 0) and wire each motor with its own motor thermal overload relay.
Enable the motor overload protection (L1-01 = 1 to 5) when connecting the drive to a single motor, unless another motor
overload preventing device is installed. The drive electronic thermal overload function causes an oL1 fault, which shuts
off the output of the drive and prevents additional overheating of the motor. The motor temperature is continually
calculated as long as the drive is powered up.
L1-02 Motor Overload Protection Time
Setting Range: 0.1 to 5.0 min
Factory Default: 1.0 min
Parameter L1-02 determines how long the motor is allowed to operate before the oL1 fault occurs when the drive is
running at 60 Hz and at 150% of the full load amp rating (E2-01) of the motor. Adjusting the value of L1-02 can shift the
set of oL1 curves up the y axis of the diagram below, but will not change the shape of the curves.
Figure D.7
Figure D.7 Motor Overload Protection Time
3 Vector motor with a speed range of 1:100
Selects protection characteristics for a motor capable of cooling itself at any speed including zero speed (externally
cooled motor). The motor overload detection level (oL1) is constant over the entire speed range.
4 Permanent Magnet motor with variable torque
Selects protection characteristics for a variable torque PM motor. The motor overload detection level (oL1) is
automatically reduces when running below the motor rated speed.
5 Permanent Magnet motor with constant torque
Selects protection characteristics for a constant torque PM motor. The motor overload detection level (oL1) is constant
over the whole speed range.
6 Standard fan cooled motor (50 Hz)
Selects protection characteristics for a standard self cooled motor with limited cooling capabilities when running below
the rated speed. The motor overload detection level (oL1) is automatically reduces when running below the motor rated
speed.
Setting Description
10
7
3
1
0.4
0.1
0 100 200 150
Cold Start
Hot Start
Motor Current (%)
(E2-01=100 %)
Time (min)
530 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
D.4 Safe Disable Input Function
D.4 Safe Disable Input Function
Specifications
Precautions
DANGER! Improper use of the Safe Disable function can result in serious injury or even death.
Make sure the whole system or machinery that the Safe Disable function is used in complies with safety requirements. When
implementing the Safe Disable function into the safety system of a machine, a thorough risk assessment for the whole system has to
be carried out to assure it complies with relevant safety norms (e.g., EN954/ISO13849, IEC61508, EN/IEC62061,...).
DANGER! When using a PM motor, even if the drive output is shut off by the Safe Disable function, a break down of two output
transistors can cause current to flow through the motor winding, resulting in a rotor movement for a maximum angle of 180 degree
(electrically). Make sure such a situation would have no effect on the safety of the application when using the Safe Disable function.
This is not a concern with induction motors.
DANGER! The Safe Disable function can switch off the drive output, but does not cut the drive power supply and cannot electrically
isolate the drive output from the input. Always shut off the drive power supply when performing maintenance or installations on the
drive input side as well as the drive output side.
DANGER! When using the Safe Disable inputs, make sure to remove the wire links between terminals H1, H2, and HC that were
installed prior to shipment. Failing to do so will keep the Safe Disable circuit from operating properly and can cause injury or even
death.
DANGER! All safety features (including Safe Disable) should be inspected daily and periodically. If the system is not operating
normally, there is a risk of serious personal injury.
DANGER! Only a qualified technician with a thorough understanding of the drive, the instruction manual, and safety standards should
be permitted to wire, inspect, and maintain the Safe Disable input.
NOTICE: From the moment terminal inputs H1 and H2 have opened, it takes up to 1 ms for drive output to shut off completely. The
sequence set up to trigger terminals H1 and H2 should make sure that both terminals remain open for at least 1 ms in order to properly
interrupt drive output.
NOTICE: The Safe Disable Monitor (output terminals DM+ and DM-) should not be used for any other purpose than to monitor the
Safe Disable status or to discover a malfunction in the Safe Disable inputs. The monitor output is not considered a safe output.
When utilizing the Safe Disable function, use only the EMC filters recommended in EMC Filters on page 524.
Using the Safe Disable Function
The Safe Disable inputs provide a stop function in compliance with Stop Category 0 as defined in the EN60204-1
(uncontrolled stop by power removal), and Safe Torque Off as defined in the IEC61800-5-2. Safe Disable inputs have
been designed to meet the requirements of the EN954-1/ISO13849-1, Category 3 and EN61508, SIL2.
A Safe Disable Status Monitor for error detection in the safety circuit is also provided.
Safe Disable Circuit
The Safe Disable circuit consists of two independent input channels that can block the output transistors. In addition, it
provides a monitoring channel that indicates the status of those two input channels.
The input can either use the drive internal power supply or an external power supply. Both modes, Sink mode and Source
mode are supported. The mode that is selected for the digital input terminals S1 to S8 by switch S3 will also be used for
the Safe Disable inputs. Refer to Sinking/Sourcing Mode Switch for Digital Inputs on page 81.
The Safe Disable Monitor uses a single channel photocoupler output. Refer to Output Terminals on page 77 for signal
specifications when using this output.
Inputs / Outputs
Two Safe Disable inputs and 1 EDM output according to EN61800-5-1, EN954-1/ISO13849 Cat. 3, IEC/EN61508
SIL2, Insulation coordination: class 1.
Operation Time Time from input open to drive output stop is less than 1 ms.
Failure Probability
Demand Rate Low PFD = 5.15E
-5
Demand Rate High/
Continuous
PFH = 1.2E
-9
Performance Level
The Safe Disable Inputs satisfy all requirements of Performance Level (PL) d according to ISO13849-1. (Note: DC
from EDM considered.)
D.4 Safe Disable Input Function
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 531
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Figure D.8
Figure D.8 Safe Disable Function Wiring Example (SINK Mode)
Disabling and Enabling the Drive Output (Safe Torque Off)
Figure D.9 illustrates the Safe Disable input operation.
Figure D.9
Figure D.9 Safe Disable Operation
Entering the Safe Torque Off State
Whenever either one Safe Disable input or both inputs open, the motor torque is shut off by switching off the drive
output. If the motor was running before the Safe Disable inputs opened, then the motor will coast to stop, regardless of
the stopping method set in parameter b1-03.
Notice that the Safe Torque Off state can only be achieved using the Safe Disable function. Removing the Run
command stops the drive and shuts the output off (baseblock), but does not create a Safe Torque Off status.
Note: To avoid an uncontrolled stop during normal operation, make sure that the Safe Disable inputs are opened first when the motor
has completely stopped.
Returning to Normal Operation after Safe Disable
The Safe Disable function can only be deactivated when a Run command is not active.
When Safe Disable was activated during stop, normal operation can be resumed by simply turning on both Safe Disable
inputs (i.e., by deactivating Safe Torque Off).
When Safe Disable was activated during run, first the Run command has to be removed and then the Safe Disable inputs
have to be turned on before the drive can be restarted.
24 Vdc
Safety
Outputs
Power Module
P N
M
Gate Block 2
Gate Block 1
Control
Circuit
Main Power
H1
H2
HC
Drive
Jumper S3
Setting:
SINK
>=1
DM+
DM-
Feedback
Safety Relay or PLC
with safety functionality
YEC_common
H1, H2 Input
Drive Output
ON (Safe Disable off)
Normal operation
OFF (Safe Disable activated)
Safe Torque-Off
Run Command Run Stop
Baseblock (Not Safe!)
Output
Frequency
Motor coasts
to stop
Run Command must be
released to deactivate
Safe Disable
Drive is ready for
operation
D.4 Safe Disable Input Function
532 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Safe Disable Monitor Output Function and Digital Operator Display
Table D.8 explains the drive output and Safe Disable monitor state depending on the Safe Disable inputs.
Table D.8 Safety Input and EDM Terminal Status
Safe Disable Status Monitor
With the Safe Disable monitor output (terminals DM+ and DM-), the drive provides a safety status feedback signal. This
signal should be read by the device that controls the Safe Disable inputs (PLC or a safety relay) in order to prohibit
leaving the Safe Torque Off status in case the safety circuit malfunctions. Refer to the instruction manual of the safety
device for details on this function.
Digital Operator Display
When both Safe Disable inputs are open, Hbb will flash in the digital operator display.
Should only one of the Safe Disable channels be on while the other is off, HbbF will flash in the display to indicate that
there is a problem in the safety circuit or in the drive. This display should not appear under normal conditions if the Safe
Disable circuit is utilized properly. Refer to Alarm Codes, Causes, and Possible Solutions on page 323 to resolve
possible errors.
Safe Disable Input Status
Safe Disable Status Monitor,
DM+ - DM-
Drive Output Status Digital Operator Display
Input 1, H1-HC Input 2, H2-HC
OFF OFF OFF Safely disabled, Safe Torque Off Hbb (flashes)
ON OFF ON Safely disabled, Safe Torque Off HbbF (flashes)
OFF ON ON Safely disabled, Safe Torque Off HbbF (flashes)
ON ON ON Baseblock, ready for operation Normal display
Appendix: E
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 533
Quick Reference Sheet
The following tables have been provided for the users convenience. Fill in the cells that have
been left blank as is appropriate for your drive, and keep this information as a quick reference
guide to drive and motor data as well as parameter settings
E.1 DRIVE AND MOTOR SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534
E.2 MULTI-FUNCTION I/O TERMINAL SETTINGS RECORD . . . . . . . . . . . . . . . . . . . 535
E.3 USER SETTING TABLE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 536
534 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
E.1 Drive and Motor Specifications
E.1 Drive and Motor Specifications
Drive
A separate record should be kept that lists drive specifications and motor specifications.
Motor
Induction Motor
Note: These values must be entered as part of the Auto-Tuning process.
Permanent Magnet Motor
Note: These values must be entered as part of the Auto-Tuning process.
Items Description
Model CIMR-A
Serial Number
Date of Usage
Items Description Items Description
Manufacturer Motor Rated Current (T1-04) A
Model Motor Base Frequency (T1-05) Hz
Motor Rated Power (T1-02) kW Number of Motor Poles (T1-06)
Motor Rated Voltage (T1-03) V Motor Base Speed (T1-07) r/min
Items Description Items Description
Manufacturer PM Motor Rated Current (T2-06) A
Model PM Motor Base Frequency (T2-07) Hz
PM Motor Rated Power (T2-04) kW Number of PM Motor Poles (T2-08)
PM Motor Rated Voltage (T2-05) V PM Motor Base Speed (T2-09) r/min
PRG : 1010
IND.CONT.EQ.
7J48 B
CIMR-AA2A0021FAA
YASKAWA ELECTRIC CORPORATION MADE IN JAPAN
:
: AC3PH 200-240V 50/60Hz 24A/18.9A
: AC3PH 0-240V 0-400Hz 21A/17.5A
: 3.5 kg
:
:
: E131457 IP20
PASS
MODEL
MAX APPLI. MOTOR : 5.5kW / 3.7kW REV : A
INPUT
OUTPUT
MASS
O / N
S / N
FILE NO
TYPE 1 ENCLOSURE
AC drive model
Input specifications
Output specifications
Lot number
Serial number
Software version
Enclosure type
Normal Duty Amps / Heavy Duty Amps
YEC_
c om-
mon
E.2 Multi-Function I/O Terminal Settings Record
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 535
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E.2 Multi-Function I/O Terminal Settings Record
These tables have been provided for the customer to keep a record of the functions assigned to each multi-function
terminal.
Multi-Function Digital Inputs (SC Common)
Pulse Train Input/Analog Inputs (AC Common)
Multi-Function Digital Outputs
Multi-Function Photocoupler Outputs (PC Common)
Monitor Outputs (AC Common)
Terminal Used/Reserved Setting Value and Function Name Memo
S1 H1-01=
S2 H1-02=
S3 H1-03=
S4 H1-04=
S5 H1-05=
S6 H1-06=
S7 H1-07=
S8 H1-08=
Terminal Used/Reserved Setting Value and Function Name Memo
RP H6-01=
A1 H3-02=
A2 H3-10=
A3 H3-06=
Terminal Used/Reserved Setting Value and Function Name Memo
M1-M2 H2-01=
Terminal Used/Reserved Setting Value and Function Name Memo
P1 H2-02=
P2 H2-03=
Terminal Used/Reserved Setting Value and Function Name Memo
FM H4-01=
AM H4-04=
536 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
E.3 User Setting Table
E.3 User Setting Table
Use the Verify Menu to see which parameters have been changed from their original default settings.
The diamond below the parameter number indicates that the parameter setting can be changed during run.
Parameter names in boldface type are included in the Setup Group of parameters.
No. Name
User
Setting
A1-00 Language Selection
A1-01 Access Level Selection
A1-02 Control Method Selection
A1-03 Initialize Parameters
A1-04 Password
A1-05 Password Setting
A1-06 Application Preset
A1-07 DriveWorksEZ Function Selection
A2-01 to
A2-32
User Parameters 1 to 32
A2-33 User Parameter Automatic Selection
b1-01 Frequency Reference Selection 1
b1-02 Run Command Selection 1
b1-03 Stopping Method Selection
b1-04 Reverse Operation Selection
b1-05 Action Selection below Minimum Output Frequency
b1-06 Digital Input Reading
b1-07 LOCAL/REMOTE Run Selection
b1-08 Run Command Selection while in Programming Mode
b1-14 Phase Order Selection
b1-15 Frequency Reference Selection 2
b1-16 Run Command Selection 2
b1-17 Run Command at Power Up
b2-01 DC Injection Braking Start Frequency
b2-02 DC Injection Braking Current
b2-03 DC Injection Braking Time at Start
b2-04 DC Injection Braking Time at Stop
b2-08 Magnetic Flux Compensation Value
b2-12 Short Circuit Brake Time at Start
b2-13 Short Circuit Brake Time at Stop
b2-18 Short Circuit Braking Current
b3-01 Speed Search Selection at Start
b3-02 Speed Search Deactivation Current
b3-03 Speed Search Deceleration Time
b3-04 V/f Gain during Speed Search
b3-05 Speed Search Delay Time
b3-06 Output Current 1 during Speed Search
b3-10 Speed Search Detection Compensation Gain
b3-14 Bi-Directional Speed Search Selection
b3-17 Speed Search Restart Current Level
b3-18 Speed Search Restart Detection Time
b3-19 Number of Speed Search Restarts
b3-24 Speed Search Method Selection
b3-25 Speed Search Wait Time
b4-01 Timer Function On-Delay Time
b4-02 Timer Function Off-Delay Time
b5-01 PID Function Setting
b5-02 Proportional Gain Setting (P)
b5-03 Integral Time Setting (I)
b5-04 Integral Limit Setting
b5-05 Derivative Time (D)
b5-06 PID Output Limit
b5-07 PID Offset Adjustment
b5-08 PID Primary Delay Time Constant
b5-09 PID Output Level Selection
b5-10 PID Output Gain Setting
No. Name
User
Setting
b5-11 PID Output Reverse Selection
b5-12 PID Feedback Loss Detection Selection
b5-13 PID Feedback Loss Detection Level
b5-14 PID Feedback Loss Detection Time
b5-15 PID Sleep Function Start Level
b5-16 PID Sleep Delay Time
b5-17 PID Accel/Decel Time
b5-18 PID Setpoint Selection
b5-19 PID Setpoint Value
b5-20 PID Setpoint Scaling
b5-34 PID Output Lower Limit
b5-35 PID Input Limit
b5-36 PID Feedback High Detection Level
b5-37 PID Feedback High Detection Time
b5-38 PID Setpoint User Display
b5-39 PID Setpoint Display Digits
b5-40 Frequency Reference Monitor Content during PID
b6-01 Dwell Reference at Start
b6-02 Dwell Time at Start
b6-03 Dwell Reference at Stop
b6-04 Dwell Time at Stop
b7-01 Droop Control Gain
b7-02 Droop Control Delay Time
b8-01 Energy Saving Control Selection
b8-02 Energy Saving Gain
b8-03 Energy Saving Control Filter Time Constant
b8-04 Energy Saving Coefficient Value
b8-05 Power Detection Filter Time
b8-06 Search Operation Voltage Limit
b9-01 Zero Servo Gain
b9-02 Zero Servo Completion Width
C1-01 Acceleration Time 1
C1-02 Deceleration Time 1
C1-03 Acceleration Time 2
C1-04 Deceleration Time 2
C1-05 Acceleration Time 3 (Motor 2 Accel Time 1)
C1-06 Deceleration Time 3 (Motor 2 Decel Time 1)
C1-07 Acceleration Time 4 (Motor 2 Accel Time 2)
C1-08 Deceleration Time 4 (Motor 2 Decel Time 2)
C1-09 Fast-Stop Time
C1-10 Accel/Decel Time Setting Units
C1-11 Accel/Decel Time Switching Frequency
C2-01 S-Curve Characteristic at Accel Start
C2-02 S-Curve Characteristic at Accel End
C2-03 S-Curve Characteristic at Decel Start
C2-04 S-Curve Characteristic at Decel End
C3-01 Slip Compensation Gain
C3-02 Slip Compensation Primary Delay Time
C3-03 Slip Compensation Limit
C3-04 Slip Compensation Selection during Regeneration
C3-05 Output Voltage Limit Operation Selection
C3-21 Motor 2 Slip Compensation Gain
C3-22 Motor 2 Slip Compensation Primary Delay Time
C3-23 Motor 2 Slip Compensation Limit
C3-24 Motor 2 Slip Compensation Selection during Regeneration
C4-01 Torque Compensation Gain
E.3 User Setting Table
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 537
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C4-02 Torque Compensation Primary Delay Time
C4-03 Torque Compensation at Forward Start
C4-04 Torque Compensation at Reverse Start
C4-05 Torque Compensation Time Constant
C4-06 Torque Compensation Primary Delay Time 2
C4-07 Motor 2 Torque Compensation Gain
C5-01 ASR Proportional Gain 1
C5-02 ASR Integral Time 1
C5-03 ASR Proportional Gain 2
C5-04 ASR Integral Time 2
C5-05 ASR Limit
C5-06 ASR Primary Delay Time Constant
C5-07 ASR Gain Switching Frequency
C5-08 ASR Integral Limit
C5-12 Integral Operation during Accel/Decel
C5-17 Motor Inertia
C5-18 Load Inertia Ratio
C5-21 Motor 2 ASR Proportional Gain 1
C5-22 Motor 2 ASR Integral Time 1
C5-23 Motor 2 ASR Proportional Gain 2
C5-24 Motor 2 ASR Integral Time 2
C5-25 Motor 2 ASR Limit
C5-26 Motor 2 ASR Primary Delay Time Constant
C5-27 Motor 2 ASR Gain Switching Frequency
C5-28 Motor 2 ASR Integral Limit
C5-32 Integral Operation during Accel/Decel for Motor 2
C5-37 Motor 2 Inertia
C5-38 Motor 2 Load Inertia Ratio
C6-01 Drive Duty Selection
C6-02 Carrier Frequency Selection
C6-03 Carrier Frequency Upper Limit
C6-04 Carrier Frequency Lower Limit
C6-05 Carrier Frequency Proportional Gain
C6-09 Carrier Frequency during Rotational Auto-Tuning
d1-01 Frequency Reference 1
d1-02 Frequency Reference 2
d1-03 Frequency Reference 3
d1-04 Frequency Reference 4
d1-05 Frequency Reference 5
d1-06 Frequency Reference 6
d1-07 Frequency Reference 7
d1-08 Frequency Reference 8
d1-09 Frequency Reference 9
d1-10 Frequency Reference 10
d1-11 Frequency Reference 11
d1-12 Frequency Reference 12
d1-13 Frequency Reference 13
d1-14 Frequency Reference 14
d1-15 Frequency Reference 15
d1-16 Frequency Reference 16
d1-17 Jog Frequency Reference
d2-01 Frequency Reference Upper Limit
d2-02 Frequency Reference Lower Limit
d2-03 Master Speed Reference Lower Limit
d3-01 Jump Frequency 1
d3-02 Jump Frequency 2
d3-03 Jump Frequency 3
d3-04 Jump Frequency Width
d4-01 Frequency Reference Hold Function Selection
d4-03 Frequency Reference Bias Step (Up/Down 2)
d4-04 Frequency Reference Bias Accel/Decel (Up/Down 2)
d4-05
Frequency Reference Bias Operation Mode Selection (Up/
Down 2)
d4-06 Frequency Reference Bias (Up/Down 2)
d4-07
Analog Frequency Reference Fluctuation Limit (Up/Down
2)
No. Name
User
Setting
d4-08 Frequency Reference Bias Upper Limit (Up/Down 2)
d4-09 Frequency Reference Bias Lower Limit (Up/Down 2)
d4-10 Up/Down Frequency Reference Limit Selection
d5-01 Torque Control Selection
d5-02 Torque Reference Delay Time
d5-03 Speed Limit Selection
d5-04 Speed Limit
d5-05 Speed Limit Bias
d5-06 Speed/Torque Control Switchover Time
d5-08 Unidirectional Speed Limit Bias
d6-01 Field Weakening Level
d6-02 Field Weakening Frequency Limit
d6-03 Field Forcing Selection
d6-06 Field Forcing Limit
d7-01 Offset Frequency 1
d7-02 Offset Frequency 2
d7-03 Offset Frequency 3
E1-01 Input Voltage Setting
E1-03 V/f Pattern Selection
E1-04 Maximum Output Frequency
E1-05 Maximum Voltage
E1-06 Base Frequency
E1-07 Middle Output Frequency
E1-08 Middle Output Frequency Voltage
E1-09 Minimum Output Frequency
E1-10 Minimum Output Frequency Voltage
E1-11 Middle Output Frequency 2
E1-12 Middle Output Frequency Voltage 2
E1-13 Base Voltage
E2-01 Motor Rated Current
E2-02 Motor Rated Slip
E2-03 Motor No-Load Current
E2-04 Number of Motor Poles
E2-05 Motor Line-to-Line Resistance
E2-06 Motor Leakage Inductance
E2-07 Motor Iron-Core Saturation Coefficient 1
E2-08 Motor Iron-Core Saturation Coefficient 2
E2-09 Motor Mechanical Loss
E2-10 Motor Iron Loss for Torque Compensation
E2-11 Motor Rated Power
E3-01 Motor 2 Control Mode Selection
E3-04 Motor 2 Maximum Output Frequency
E3-05 Motor 2 Maximum Voltage
E3-06 Motor 2 Base Frequency
E3-07 Motor 2 Mid Output Frequency
E3-08 Motor 2 Mid Output Frequency Voltage
E3-09 Motor 2 Minimum Output Frequency
E3-10 Motor 2 Minimum Output Frequency Voltage
E3-11 Motor 2 Mid Output Frequency 2
E3-12 Motor 2 Mid Output Frequency Voltage 2
E3-13 Motor 2 Base Voltage
E4-01 Motor 2 Rated Current
E4-02 Motor 2 Rated Slip
E4-03 Motor 2 Rated No-Load Current
E4-04 Motor 2 Motor Poles
E4-05 Motor 2 Line-to-Line Resistance
E4-06 Motor 2 Leakage Inductance
E4-07 Motor 2 Motor Iron-Core Saturation Coefficient 1
E4-08 Motor 2 Motor Iron-Core Saturation Coefficient 2
E4-09 Motor 2 Mechanical Loss
E4-10 Motor 2 Iron Loss
E4-11 Motor 2 Rated Power
E5-01 Motor Code Selection
E5-02 Motor Rated Power
E5-03 Motor Rated Current
No. Name
User
Setting
E.3 User Setting Table
538 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
E5-04 Number of Motor Poles
E5-05 Motor Stator Resistance
E5-06 Motor d-Axis Inductance
E5-07 Motor q-Axis Inductance
E5-09 Motor Induction Voltage Constant 1
E5-11 Encoder Z-pulse Offset
E5-24 Motor Induction Voltage Constant 2
F1-01 PG 1 Pulses Per Revolution
F1-02 Operation Selection at PG Open Circuit (PGo)
F1-03 Operation Selection at Overspeed (oS)
F1-04 Operation Selection at Deviation
F1-05 PG 1 Rotation Selection
F1-06 PG 1 Division Rate for PG Pulse Monitor
F1-08 Overspeed Detection Level
F1-09 Overspeed Detection Delay Time
F1-10 Excessive Speed Deviation Detection Level
F1-11 Excessive Speed Deviation Detection Delay Time
F1-12 PG 1 Gear Teeth 1
F1-13 PG 1 Gear Teeth 2
F1-14 PG Open-Circuit Detection Time
F1-18 dv3 Detection Selection
F1-19 dv4 Detection Selection
F1-20 PG Option Card Disconnect Detection 1
F1-21 PG 1 Signal Selection
F1-30 PG Option Card Port for Motor 2 Selection
F1-31 PG 2 Pulses Per Revolution
F1-32 PG 2 Rotation Selection
F1-33 PG 2 Gear Teeth 1
F1-34 PG 2 Gear Teeth 2
F1-35 PG 2 Division Rate for PG Pulse Monitor
F1-36 PG Option Card Disconnect Detection 2
F1-37 PG2 Signal Selection
F2-01 Analog Input Option Card Operation Selection
F2-02 Analog Input Option Card Gain
F2-03 Analog Input Option Card Bias
F3-01 Digital Input Option Card Input Selection
F3-03 Digital Input Option DI-A3 Data Length Selection
F4-01 Terminal V1 Monitor Selection
F4-02 Terminal V1 Monitor Gain
F4-03 Terminal V2 Monitor Selection
F4-04 Terminal V2 Monitor Gain
F4-05 Terminal V1 Monitor Bias
F4-06 Terminal V2 Monitor Bias
F4-07 Terminal V1 Signal Level
F4-08 Terminal V2 Signal Level
F5-01 Terminal P1-PC Output Selection
F5-02 Terminal P2-PC Output Selection
F5-03 Terminal P3-PC Output Selection
F5-04 Terminal P4-PC Output Selection
F5-05 Terminal P5-PC Output Selection
F5-06 Terminal P6-PC Output Selection
F5-07 Terminal M1-M2 Output Selection
F5-08 Terminal M3-M4 Output Selection
F5-09 DO-A3 Output Mode Selection
F6-01 Communications Error Operation Selection
F6-02 External Fault from Comm. Option Detection Selection
F6-03 External Fault from Comm. Option Operation Selection
F6-04 bUS Error Detection Time
F6-06
Torque Reference/Torque Limit Selection from Comm.
Option
F6-07
Multi-Step Speed Enable/Disable Selection when NetRef/
ComRef is Selected
F6-08 Reset Communication Parameters
F6-10 CC-Link Node Address
F6-11 CC-Link Communications Speed
F6-14 CC-Link bUS Error Auto Reset
No. Name
User
Setting
F6-20 MECHATROLINK Station Address
F6-21 MECHATROLINK Frame Size
F6-22 MECHATROLINK Link Speed
F6-23 MECHATROLINK Monitor Selection (E)
F6-24 MECHATROLINK Monitor Selection (F)
F6-25 Operation Selection at Watchdog Timer Error (E5)
F6-26 MECHATROLINK bUS Errors Detected
F6-30 PROFIBUS-DP Node Address
F6-31 PROFIBUS-DP Clear Mode Selection
F6-32 PROFIBUS-DP Data Format Selection
F6-35 CANopen Node ID Selection
F6-36 CANopen Communication Speed
F6-50 DeviceNet MAC Address
F6-51 DeviceNet Communication Speed
F6-52 DeviceNet PCA Setting
F6-53 DeviceNet PPA Setting
F6-54 DeviceNet Idle Mode Fault Detection
F6-55 DeviceNet Baud Rate Monitor
F6-56 DeviceNet Speed Scaling
F6-57 DeviceNet Current Scaling
F6-58 DeviceNet Torque Scaling
F6-59 DeviceNet Power Scaling
F6-60 DeviceNet Voltage Scaling
F6-61 DeviceNet Time Scaling
F6-62 DeviceNet Heartbeat Interval
F6-63 DeviceNet Network MAC ID
H1-01
Multi-Function Digital Input Terminal S1 Function
Selection
H1-02
Multi-Function Digital Input Terminal S2 Function
Selection
H1-03
Multi-Function Digital Input Terminal S3 Function
Selection
H1-04
Multi-Function Digital Input Terminal S4 Function
Selection
H1-05
Multi-Function Digital Input Terminal S5 Function
Selection
H1-06
Multi-Function Digital Input Terminal S6 Function
Selection
H1-07
Multi-Function Digital Input Terminal S7 Function
Selection
H1-08
Multi-Function Digital Input Terminal S8 Function
Selection
H2-01 Terminal M1-M2 Function Selection (relay)
H2-02 Terminal P1-PC Function Selection (photocoupler)
H2-03 Terminal P2-PC Function Selection (photocoupler)
H2-06 Watt Hour Output Unit Selection
H3-01 Terminal A1 Signal Level Selection
H3-02 Terminal A1 Function Selection
H3-03 Terminal A1 Gain Setting
H3-04 Terminal A1 Bias Setting
H3-05 Terminal A3 Signal Level Selection
H3-06 Terminal A3 Function Selection
H3-07 Terminal A3 Gain Setting
H3-08 Terminal A3 Bias Setting
H3-09 Terminal A2 Signal Level Selection
H3-10 Terminal A2 Function Selection
H3-11 Terminal A2 Gain Setting
H3-12 Terminal A2 Bias Setting
H3-13 Analog Input Filter Time Constant
H3-14 Analog Input Terminal Enable Selection
H4-01
Multi-Function Analog Output Terminal FM Monitor
Selection
H4-02 Multi-Function Analog Output Terminal FM Gain
H4-03 Multi-Function Analog Output Terminal FM Bias
H4-04
Multi-Function Analog Output Terminal AM Monitor
Selection
H4-05 Multi-Function Analog Output Terminal AM Gain
H4-06 Multi-Function Analog Output Terminal AM Bias
No. Name
User
Setting
E.3 User Setting Table
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 539
Q
u
i
c
k
R
e
f
e
r
e
n
c
e
S
h
e
e
t
E
H4-07
Multi-Function Analog Output Terminal FM Signal Level
Selection
H4-08
Multi-Function Analog Output Terminal AM Signal Level
Selection
H5-01 Drive Node Address
H5-02 Communication Speed Selection
H5-03 Communication Parity Selection
H5-04 Stopping Method After Communication Error (CE)
H5-05 Communication Fault Detection Selection
H5-06 Drive Transmit Wait Time
H5-07 RTS Control Selection
H5-09 CE Detection Time
H5-10 Unit Selection for MEMOBUS/Modbus Register 0025H
H5-11 Communications ENTER Function Selection
H5-12 Run Command Method Selection
H6-01 Pulse Train Input Terminal RP Function Selection
H6-02 Pulse Train Input Scaling
H6-03 Pulse Train Input Gain
H6-04 Pulse Train Input Bias
H6-05 Pulse Train Input Filter Time
H6-06 Pulse Train Monitor Selection
H6-07 Pulse Train Monitor Scaling
H6-08 Pulse Train Input Minimum Frequency
L1-01 Motor Overload Protection Selection
L1-02 Motor Overload Protection Time
L1-03 Motor Overheat Alarm Operation Selection (PTC input)
L1-04 Motor Overheat Fault Operation Selection (PTC input)
L1-05 Motor Temperature Input Filter Time (PTC input)
L1-13 Continuous Electrothermal Operation Selection
L2-01 Momentary Power Loss Operation Selection
L2-02 Momentary Power Loss Ride-Thru Time
L2-03 Momentary Power Loss Minimum Baseblock Time
L2-04 Momentary Power Loss Voltage Recovery Ramp Time
L2-05 Undervoltage Detection Level (Uv1)
L2-06 KEB Deceleration Time
L2-07 KEB Acceleration Time
L2-08 Frequency Gain at KEB Start
L2-10 KEB Detection Time (Minimum KEB Time)
L2-11 DC Bus Voltage Setpoint during KEB
L2-29 KEB Method Selection
L3-01 Stall Prevention Selection during Acceleration
L3-02 Stall Prevention Level during Acceleration
L3-03 Stall Prevention Limit during Acceleration
L3-04 Stall Prevention Selection during Deceleration
L3-05 Stall Prevention Selection during Run
L3-06 Stall Prevention Level during Run
L3-11 Overvoltage Suppression Function Selection
L3-17
Target DC Bus Voltage for Overvoltage Suppression and
Stall Prevention
L3-20 DC Bus Voltage Adjustment Gain
L3-21 Accel/Decel Rate Calculation Gain
L3-22 Deceleration Time at Stall Prevention during Acceleration
L3-23
Automatic Reduction Selection for Stall Prevention during
Run
L3-24 Motor Acceleration Time for Inertia Calculations
L3-25 Load Inertia Ratio
L3-26 Additional DC Bus Capacitors
L3-27 Stall Prevention Detection Time
L4-01 Speed Agreement Detection Level
L4-02 Speed Agreement Detection Width
L4-03 Speed Agreement Detection Level (+/-)
L4-04 Speed Agreement Detection Width (+/-)
L4-05 Frequency Reference Loss Detection Selection
L4-06 Frequency Reference at Reference Loss
L4-07 Speed Agreement Detection Selection
L5-01 Number of Auto Restart Attempts
No. Name
User
Setting
L5-02 Auto Restart Fault Output Operation Selection
L5-04 Fault Reset Interval Time
L5-05 Fault Reset Operation Selection
L6-01 Torque Detection Selection 1
L6-02 Torque Detection Level 1
L6-03 Torque Detection Time 1
L6-04 Torque Detection Selection 2
L6-05 Torque Detection Level 2
L6-06 Torque Detection Time 2
L6-08 Mechanical Weakening Detection Operation
L6-09 Mechanical Weakening Detection Speed Level
L6-10 Mechanical Weakening Detection Time
L6-11 Mechanical Weakening Detection Start Time
L7-01 Forward Torque Limit
L7-02 Reverse Torque Limit
L7-03 Forward Regenerative Torque Limit
L7-04 Reverse Regenerative Torque Limit
L7-06 Torque Limit Integral Time Constant
L7-07
Torque Limit Control Method Selection during Accel/
Decel
L8-01
Internal Dynamic Braking Resistor Protection Selection
(ERF type)
L8-02 Overheat Alarm Level
L8-03 Overheat Pre-Alarm Operation Selection
L8-05 Input Phase Loss Protection Selection
L8-07 Output Phase Loss Protection
L8-09 Output Ground Fault Detection Selection
L8-10 Heatsink Cooling Fan Operation Selection
L8-11 Heatsink Cooling Fan Off Delay Time
L8-12 Ambient Temperature Setting
L8-15 oL2 Characteristics Selection at Low Speeds
L8-18 Software Current Limit Selection
L8-19 Frequency Reduction Rate during Overheat Pre-Alarm
L8-27 Overcurrent Detection Gain
L8-29 Current Unbalance Detection (LF2)
L8-35 Installation Method Selection
L8-38 Carrier Frequency Reduction Selection
L8-40 Carrier Frequency Reduction Off-Delay Time
L8-41 High Current Alarm Selection
L8-55 Internal Braking Transistor Protection
n1-01 Hunting Prevention Selection
n1-02 Hunting Prevention Gain Setting
n1-03 Hunting Prevention Time Constant
n1-05 Hunting Prevention Gain while in Reverse
n2-01 Speed Feedback Detection Control (AFR) Gain
n2-02 Speed Feedback Detection Control (AFR) Time Constant 1
n2-03 Speed Feedback Detection Control (AFR) Time Constant 2
n3-01 High Slip Braking Deceleration Frequency Width
n3-02 High Slip Braking Current Limit
n3-03 High Slip Braking Dwell Time at Stop
n3-04 High Slip Braking Overload Time
n3-13 Overexcitation Deceleration Gain
n3-14
High Frequency Injection during Overexcitation
Deceleration
n3-21 High Slip Suppression Current Level
n3-23 Overexcitation Operation Selection
n5-01 Feed Forward Control Selection
n5-02 Motor Acceleration Time
n5-03 Feed Forward Control Gain
n6-01 Online Tuning Selection
n6-05 Online Tuning Gain
n8-01 Initial Rotor Position Estimation Current
n8-02 Pole Attraction Current
n8-35 Initial Rotor Position Detection Selection
n8-45 Speed Feedback Detection Control Gain
n8-47 Pull-In Current Compensation Time Constant
No. Name
User
Setting
E.3 User Setting Table
540 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
n8-48 Pull-In Current
n8-49 d-Axis Current for High Efficiency Control
n8-51 Acceleration/Deceleration Pull-In Current
n8-54 Voltage Error Compensation Time Constant
n8-55 Load Inertia
n8-57 High Frequency Injection
n8-62 Output Voltage Limit
n8-65
Speed Feedback Detection Control Gain during ov
Suppression
o1-01 Drive Mode Unit Monitor Selection
o1-02 User Monitor Selection After Power Up
o1-03 Digital Operator Display Selection
o1-04 V/f Pattern Display Unit
o1-10 User-Set Display Units Maximum Value
o1-11 User-Set Display Units Decimal Display
o2-01 LO/RE Key Function Selection
o2-02 STOP Key Function Selection
o2-03 User Parameter Default Value
o2-04 Drive Model Selection
o2-05 Frequency Reference Setting Method Selection
o2-06
Operation Selection when Digital Operator is
Disconnected
o2-07 Motor Direction at Power Up when Using Operator
o3-01 Copy Function Selection
o3-02 Copy Allowed Selection
o4-01 Cumulative Operation Time Setting
o4-02 Cumulative Operation Time Selection
o4-03 Cooling Fan Maintenance Operation Time Setting
o4-05 Capacitor Maintenance Setting
o4-07 DC Bus Pre-charge Relay Maintenance Setting
o4-09 IGBT Maintenance Setting
o4-11 U2, U3 Initialize Selection
o4-12 kWh Monitor Initialization
o4-13 Number of Run Commands Counter Initialization
q1-01 to
q6-07
DriveWorksEZ Parameters
r1-01 to
r1-40
DWEZ Connection Parameter 1 to 20 (upper/lower)
T1-00 Motor 1/Motor 2 Selection
T1-01 Auto-Tuning Mode Selection
T1-02 Motor Rated Power
T1-03 Motor Rated Voltage
T1-04 Motor Rated Current
T1-05 Motor Base Frequency
T1-06 Number of Motor Poles
T1-07 Motor Base Speed
T1-08 PG Number of Pulses Per Revolution
T1-09 Motor No-Load Current (Stationary Auto-Tuning)
T1-10 Motor Rated Slip (Stationary Auto-Tuning)
T1-11 Motor Iron Loss
T2-01 PM Motor Auto-Tuning Mode Selection
T2-02 PM Motor Code Selection
T2-03 PM Motor Type
T2-04 PM Motor Rated Power
T2-05 PM Motor Rated Voltage
T2-06 PM Motor Rated Current
T2-07 PM Motor Base Frequency
T2-08 Number of PM Motor Poles
T2-09 PM Motor Base Speed
T2-10 PM Motor Stator Resistance
T2-11 PM Motor d-Axis Inductance
T2-12 PM Motor q-Axis Inductance
T2-13 Induced Voltage Constant Unit Selection
T2-14 PM Motor Induced Voltage Constant
T2-15 Pull-In Current Level for PM Motor Tuning
No. Name
User
Setting
T2-16
PG Number of Pulses Per Revolution for PM Motor
Tuning
T2-17 Encoder Z-Pulse Offset
T3-01 Test Signal Frequency
T3-02 Test Signal Amplitude
T3-03 Motor Inertia
T3-04 System Response Frequency
No. Name
User
Setting
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 541
Index
Symbols
-. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
+1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
+2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
+3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
+V. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Numerics
1800 r/min Type Yaskawa SMRA Series SPM Motor
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 472
24 V Power Supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
2-Wire Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
3-Wire Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
3-Wire Sequence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
3-Wire Sequence Wiring Diagram . . . . . . . . . . . . . . . . . . . . . . 218
5th Most Recent Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 458
A
A/D Conversion Error . . . . . . . . . . . . . . . . . . . . . . . . . . . 305, 310
A1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
A1000 Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
A1-02 (Motor 1 Control Mode) Dependent Parameters. . . . . . 462
A2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
A3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
AC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76, 77
AC Reactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
Accel/Decel Rate Calculation Gain . . . . . . . . . . . . . . . . . . . . . 264
Accel/Decel Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303, 399
Accel/Decel Time Setting Units . . . . . . . . . . . . . . . . . . . . . . . . 168
Accel/Decel Time Switching Frequency . . . . . . . . . . . . . . . . . 167
Acceleration Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 333
Acceleration Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Acceleration Time Pull-In Current . . . . . . . . . . . . . . . . . . . . . . 450
Acceleration/Deceleration Pull-In Current. . . . . . . . . . . . . . . . 285
Access Level Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . 127, 132
Action Selection below Minimum Output Frequency . . . . . . . 141
Additional DC Bus Capacitors . . . . . . . . . . . . . . . . . . . . . . . . . 265
Adjusted Slip Calculation Error . . . . . . . . . . . . . . . . . . . . . . . . 332
Adjusting the ASR Parameters. . . . . . . . . . . . . . . . . . . . . . . . . 173
AEr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
AFR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
AFR Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
AFR Time Constant 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
AFR Time Constant 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
AI-A3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
AI-A3 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
Alarm Outputs for Maintenance Monitors . . . . . . . . . . . . . . . . 353
Alarm Register 007FH Contents . . . . . . . . . . . . . . . . . . . . . . . 511
Alarms and Errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304
Allowable Frequency Fluctuation . . . . . . . . . . . . . . . . . . 397, 398
Allowable Voltage Fluctuation. . . . . . . . . . . . . . . . . . . . . 397, 398
ALM LED Light. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Altitude. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
AM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Ambient Temperature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Ambient Temperature and Installation Method Derating. . . . . 404
Ambient Temperature Setting. . . . . . . . . . . . . . . . . . 274, 403, 446
Analog Filter Time Constant . . . . . . . . . . . . . . . . . . . . . . . . . . 303
Analog Frequency Reference Fluctuation Limit . . . . . . . . . . . 189
Analog Frequency Reference Sample/Hold . . . . . . . . . . . . . . . 223
Analog Input Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Analog Input Filter Time Constant . . . . . . . . . . . . . . . . . . . . . . 239
Analog Input Option Card Bias . . . . . . . . . . . . . . . . . . . . . . . . 212
Analog Input Option Card Gain . . . . . . . . . . . . . . . . . . . . . . . . 212
Analog Input Option Card Operation Selection . . . . . . . . . . . . 212
Analog Input Terminal Enable Selection . . . . . . . . . . . . . . . . . 240
Analog Inputs / Pulse Train Input. . . . . . . . . . . . . . . . . . . . . . . . 76
Analog Monitor Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . 213
AO-A3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
AO-A3 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Application Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Application Presets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Application Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Applications with Specialized Motors . . . . . . . . . . . . . . . . . . . . 23
ASR. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
ASR Gain Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
ASR Gain Switching Frequency. . . . . . . . . . . . . . . . . . . . . . . . 176
ASR Integral Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
ASR Integral Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
ASR Limit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
ASR Primary Delay Time Constant . . . . . . . . . . . . . . . . . . . . . 176
ASR Proportional Gain. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
ASR Response Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
Attachment for External Heatsink . . . . . . . . . . . . . . . . . . 380, 392
Auto Restart Fault Output Operation Selection . . . . . . . . . . . . 267
Auto Restart Operation Selection . . . . . . . . . . . . . . . . . . . . . . . 445
Automatic Reduction Selection for Stall Prevention
during Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262, 444
Automatic Speed Regulator . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114, 116, 118
Auto-Tuning Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332
Auto-Tuning Error Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
Auto-Tuning Errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
Auto-Tuning Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Auto-Tuning Fault Detection . . . . . . . . . . . . . . . . . . . . . . . . . . 332
Auto-Tuning Fault Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . 332
Auto-Tuning for Induction Motors . . . . . . . . . . . . . . . . . . . . . . 114
Auto-Tuning for Permanent Magnet Motors . . . . . . . . . . . . . . 115
Auto-Tuning Input Data . . . . . . . . . . . . . . . . . . . . . . 114, 115, 116
Auto-Tuning Interruption and Fault Codes . . . . . . . . . . . . . . . 117
Auto-Tuning Mode Selection . . . . . . . . . . . . . . . . . . . . . . 119, 452
B
B1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
B2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Backing Up Parameter Values . . . . . . . . . . . . . . . . . . . . . . . . . 127
Base Frequency. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200, 318
Base Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
Baseblock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
Baseblock Signal Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
Basic Auto-Tuning Preparations. . . . . . . . . . . . . . . . . . . . . . . . 116
Basic Start-up and Motor Tuning . . . . . . . . . . . . . . . . . . . . . . . 103
bb . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 323
Before Auto-Tuning the Drive . . . . . . . . . . . . . . . . . . . . . . . . . 116
Bi-Directional Speed Search Selection. . . . . . . . . . . . . . . . . . . 151
boL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310, 323
Bottom Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Braking Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
Braking Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379, 385
Braking Resistor Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
Braking Resistor Overheat . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
Braking Resistor Overheat Protection . . . . . . . . . . . . . . . . . . . 399
Braking Resistor Overload Protection . . . . . . . . . . . . . . . . . . . 386
Braking Resistor Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
Braking Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
Braking Transistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
Braking Transistor Overload Fault . . . . . . . . . . . . . . . . . . 310, 323
542 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Braking Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
Broadcast Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510
bUS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305, 306, 310, 323
Buzzing Sound from Motor at 2 kHz. . . . . . . . . . . . . . . . . . . . 345
C
Cable Length Between Drive and Motor . . . . . . . . . . . . . . . . . . 73
CALL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 323
Cannot Change Parameter Settings . . . . . . . . . . . . . . . . . . . . . 340
Cannot Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 324
CANopen Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . 214, 216
Capacitor Maintenance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 458
Capacitor Maintenance Setting . . . . . . . . . . . . . . . . . . . . 291, 451
Capacitor Maintenance Time . . . . . . . . . . . . . . . . . . . . . . . . . . 326
Carrier Frequency. . . . . . . . . . . . . . . . . . . . . . . . . . . 178, 397, 398
Carrier Frequency and Current Derating . . . . . . . . . . . . . . . . . 180
Carrier Frequency Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . 402
Carrier Frequency during Rotational Auto-Tuning . . . . . . . . . 180
Carrier Frequency Lower Limit . . . . . . . . . . . . . . . . . . . . . . . . 179
Carrier Frequency Proportional Gain. . . . . . . . . . . . . . . . . . . . 179
Carrier Frequency Reduction . . . . . . . . . . . . . . . . . . . . . . . . . . 447
Carrier Frequency Reduction Off-Delay Time. . . . . . . . . . . . . 276
Carrier Frequency Reduction Selection . . . . . . . . . . . . . . . . . . 276
Carrier Frequency Selection. . . . . . . . . . . . . . . . . . . 179, 300, 301
Carrier Frequency Setting Error. . . . . . . . . . . . . . . . . . . . 308, 331
Carrier Frequency Upper Limit . . . . . . . . . . . . . . . . . . . . . . . . 179
CC-Link Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214, 216
CE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305, 306, 310, 324
CE Detection Time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493
CE Low Voltage Directive Compliance . . . . . . . . . . . . . . . . . . 520
CE mark . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520
CF. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305, 310
Changing Parameter Settings or Values . . . . . . . . . . . . . . . . . . . 99
Circulation fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35, 36
Closed Loop Vector control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Closed Loop Vector Control for PM Motors . . . . . . . . . . . . . . . 30
Closed-Loop Crimp Terminal Size . . . . . . . . . . . . . . . . . . . . . 526
Coast to stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Coast to Stop with Timer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Command Messages from Master to Drive . . . . . . . . . . . . . . . 496
Communication Error. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
Communication Fault Detection Selection . . . . . . . . . . . . . . . 493
Communication Option Card . . . . . . . . . . . . . . . . . . . . . . . . . . 214
Communication Option Card Reference . . . . . . . . . . . . . . . . . 459
Communication Option Station Number Setting Error
(CC-Link, CANopen, MECHATROLINK-II) . . . . . . . . . . . . . 323
Communication Parity Selection . . . . . . . . . . . . . . . . . . . . . . . 492
Communication Speed Selection . . . . . . . . . . . . . . . . . . . . . . . 492
Communications Enter Function Selection . . . . . . . . . . . . . . . 494
Communications Error Operation Selection . . . . . . . . . . . . . . 214
Communications Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496
Comparing Parameter Settings. . . . . . . . . . . . . . . . . . . . . . . . . 337
Complementary PG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
Component Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Compressor Application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Connected Machinery Vibrates When Motor Rotates . . . . . . . 344
Connecting a DC Reactor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
Connecting a Noise Filter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 390
Connecting a Suppression Diode . . . . . . . . . . . . . . . . . . . . . . . . 77
Connecting a Surge Absorber. . . . . . . . . . . . . . . . . . . . . . . . . . 389
Connecting an AC Reactor. . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
Connecting Braking Units in Parallel. . . . . . . . . . . . . . . . . . . . 387
Connecting Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . 382
Connecting to a PC (USB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Connection of a Motor PTC. . . . . . . . . . . . . . . . . . . . . . . . . . . 250
Continuous Electrothermal Operation Selection . . . . . . . . . . . 251
Control Board Connection Error . . . . . . . . . . . . . . . . . . . . . . . 311
Control Circuit Connection Diagram. . . . . . . . . . . . . . . . . . . . . 75
Control Circuit Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310, 311
Control Circuit Fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
Control Circuit Input Terminals . . . . . . . . . . . . . . . . . . . . . . . . . 76
Control Circuit Output Terminals. . . . . . . . . . . . . . . . . . . . . . . . 77
Control Circuit Terminal Arrangement . . . . . . . . . . . . . . . . . . . 78
Control Circuit Terminal Block Functions . . . . . . . . . . . . . . . . . 76
Control Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Control Dial for Frequency Setting Potentiometer. . . . . . . . . . 380
Control Fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305, 310
Control Method Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Control Method Selection Error . . . . . . . . . . . . . . . . . . . . . . . . 330
Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132, 455
Control Mode Dependent Parameter Default Values . . . . . . . . 462
Control Mode Mismatch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
Control Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Control Modes and their Features . . . . . . . . . . . . . . . . . . . . . . . 30
Control Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461
Control Power Supply Undervoltage . . . . . . . . . . . . . . . . . . . . 306
Control Power Supply Voltage Fault . . . . . . . . . . . . . . . . . . . . 322
Conveyor Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Cooling Fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34, 35, 36
Cooling Fan Maintenance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 458
Cooling Fan Maintenance Setting (Operation Time) . . . . . . . . 451
Cooling Fan Maintenance Time . . . . . . . . . . . . . . . . . . . . . . . . 325
Cooling Fan Operation Time . . . . . . . . . . . . . . . . . . . . . . . . . . 458
Cooling Fan Operation Time Setting . . . . . . . . . . . . . . . . . . . . 291
Cooling Fan Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356
CoPy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
Copy Allowed Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
Copy Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
Copy Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128, 290
Copy Function Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304
Copy Function Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
Copy Unit Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
CopyUnitManager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
CPEr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
CPF02. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310
CPF03. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
CPF06. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
CPF07. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
CPF08. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
CPF11 to CPF14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310
CPF20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305, 311
CPF21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305, 311
CPF22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305, 311
CPF23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305, 311
CPF24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305, 311
CPF26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
CPF34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
CPyE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
CRC-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
CRC-16 Checksum Calculation Example . . . . . . . . . . . . . . . . 498
CrST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 324
CSEr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
Cumulative Operation Time . . . . . . . . . . . . . . . . . . . . . . . . . . . 458
Cumulative Operation Time at 5th Most Recent Fault. . . . . . . 458
Cumulative Operation Time at Most Recent Fault. . . . . . . . . . 458
Cumulative Operation Time at Previous Fault . . . . . . . . . . . . . 457
Cumulative Operation Time Selection . . . . . . . . . . . . . . . 291, 451
Cumulative Operation Time Setting. . . . . . . . . . . . . . . . . 291, 451
Current Alarm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 325
Current Detection Error . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 334
Current Detection Speed Search. . . . . . . . . . . . . . . . . . . . . . . . 147
Current Fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457
Current Imbalance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
Current Unbalance Detection (LF2) . . . . . . . . . . . . . . . . . 275, 447
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 543
Cyclic Redundancy Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
D
D Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
d References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419
Daily Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351
d-Axis ACR Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460
d-Axis Current for High Efficiency Control. . . . . . . . . . . . . . . 285
DC Bus Overvoltage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327
DC Bus Pre-Charge Relay Maintenance Setting . . . . . . . . . . . 291
DC Bus Undervoltage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
DC Bus Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455
DC Bus Voltage Adjustment Gain . . . . . . . . . . . . . . . . . . . . . . 263
DC Bus Voltage at Previous Fault . . . . . . . . . . . . . . . . . . . . . . 457
DC Bus Voltage Setpoint during KEB . . . . . . . . . . . . . . . . . . . 258
DC Injection Braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
DC Injection Braking at Stop . . . . . . . . . . . . . . . . . . . . . . . . . . 345
DC Injection Braking Current . . . . . . . . . . . . . . . . . . . . . 145, 345
DC Injection Braking Input Timing Diagram . . . . . . . . . . . . . 225
DC Injection Braking Start Frequency. . . . . . . . . . . . . . . . . . . 144
DC Injection Braking Time at Start . . . . . . . . . . . . . . . . . . . . . 145
DC Injection Braking Time at Stop . . . . . . . . . . . . . . . . . . . . . 145
DC Injection Braking to Stop. . . . . . . . . . . . . . . . . . . . . . . . . . 140
DC Reactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
DC Reactors for EN 61000-3-2 Compliance . . . . . . . . . . . . . . 525
Deceleration Rate Calculation Gain . . . . . . . . . . . . . . . . . . . . . 444
Deceleration Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Deceleration Time at Stall Prevention during
Acceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260, 444
Defaults by Drive Model Selection (o2-04) and
ND/HD (C6-01) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 466
Delay Timers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Derivative Time (D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Desired DC Bus Voltage during KEB . . . . . . . . . . . . . . . . . . . 443
dEv . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305, 306, 312, 324
DeviceNet Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . 214, 216
dFPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
DI-A3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381
DI-A3 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Diagnosing and Resetting Faults . . . . . . . . . . . . . . . . . . . . . . . 338
Digital Input Card Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Digital Input Option Card Input Selection . . . . . . . . . . . . . . . . 212
Digital Input Option DI-A3 Data Length Selection . . . . . . . . . 213
Digital Input Reading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . 34, 35, 36, 93, 94
Digital Operator Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Digital Operator Display Selection . . . . . . . . . . . . . . . . . 287, 450
Digital Operator Installation Methods and Required Tools . . . . 45
Digital Operator Keypad Functions . . . . . . . . . . . . . . . . . . . . . 288
Digital Operator Menu and Screen Structure . . . . . . . . . . . . . . . 96
Digital Operator Remote Installation . . . . . . . . . . . . . . . . . . . . . 45
Digital Operator Remote Usage . . . . . . . . . . . . . . . . . . . . . . . . . 44
Digital Output Card Settings . . . . . . . . . . . . . . . . . . . . . . . . . . 214
Digital Output Option Card Terminal Function Selection . . . . 214
Digital Text Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Dimensions for IP00 Enclosure
200 V Class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
400 V Class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Dimensions for IP20/NEMA Type 1 Enclosure
200 V Class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
400 V Class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
DIP Switch S1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
DIP Switch S1 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
DIP Switch S2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37, 87, 491
DM- . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
DM+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
dnE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 324
DO-A3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381
DO-A3 Output Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . 214
DO-A3 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
Drive Baseblock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
Drive Capacity Setting Fault . . . . . . . . . . . . . . . . . . . . . . . . . . 329
Drive Capacity Signal Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
Drive Cooling Fans. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355
Drive Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34, 35
Drive Cover 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Drive cover 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Drive Derating Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 402
Drive Disabled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 324
Drive Does Not Allow Selection of Rotational
Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342
Drive Duty Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
Drive Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97, 98
Drive Mode Unit Monitor Selection. . . . . . . . . . . . . . . . . 287, 450
Drive Model Mismatch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
Drive Model Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
Drive Models and Types. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Drive Motor Overload Protection. . . . . . . . . . . . . . . . . . . . . . . 528
Drive Operation Status at Previous Fault . . . . . . . . . . . . . . . . . 457
Drive Overheat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
Drive Overheat Warning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
Drive Overload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 318
Drive Ready . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Drive Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373
Drive Short-Circuit Rating . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528
Drive Slave Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492
Drive Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
Drive Standard Connection Diagram . . . . . . . . . . . . . . . . . . . . . 56
Drive Status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456
Drive Transmit Wait Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493
Drive Unit Setting Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
Drive Unit Signal Fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
Drive Watt Loss Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 401
Drive/kVA Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 451
DriveWizard Plus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128, 380
DriveWorksEZ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
DriveWorksEZ Connection Parameters . . . . . . . . . . . . . . . . . . 292
DriveWorksEZ Custom Monitor 1 to 10 . . . . . . . . . . . . . . . . . 461
DriveWorksEZ Fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
DriveWorksEZ Function Selection. . . . . . . . . . . . . . . . . . . . . . 135
DriveWorksEZ Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295
DriveWorksEZ Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
Droop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Droop Control Delay Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Droop Control Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Droop Control Limit Selection . . . . . . . . . . . . . . . . . . . . . . . . . 163
DRV LED Light . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
During Frequency Output Time Chart . . . . . . . . . . . . . . . . . . . 235
During Run 2, Motor Switch Command Input . . . . . . . . . . . . . 307
During Run Time Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
dv1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
dv2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
dv3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
dv3 Detection Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
dv4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
dv4 Detection Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
dWAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 312
Dwell Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162, 303
Dwell Reference at Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
Dwell Reference at Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
Dwell Time at Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
Dwell Time at Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
DWEZ Connection Parameters. . . . . . . . . . . . . . . . . . . . . . . . . 452
DWEZ Version Control Monitor 1 to 3 . . . . . . . . . . . . . . . . . . 461
544 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
dWFL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
Dynamic Braking Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
Dynamic Braking Transistor . . . . . . . . . . . . . . . . . . . . . . 306, 320
E
E (G). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
E3-01 (Motor 2 Control Mode) Dependent Parameters. . . . . . 463
EEPROM Memory Data Error. . . . . . . . . . . . . . . . . . . . . . . . . 311
EEPROM Write Error . . . . . . . . . . . . . . . . . . . . . . . . . . . 305, 313
EF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 324
EF0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305, 313, 324
EF1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313, 324
EF1 to EF7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305, 307
EF2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313, 324
EF3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313, 324
EF4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313, 324
EF5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313, 324
EF6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313, 324
EF7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313, 325
EF8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313, 325
Electrical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
EMC Filter and Drive Installation for CE Compliance . . . . . . 523
EMC Filter Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521
EMC Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 524
EMC Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520
EMC Guidelines Compliance. . . . . . . . . . . . . . . . . . . . . . . . . . 521
EN61800-3 C2 Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 524
Enclosure Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Encoder Z-Pulse Offset . . . . . . . . . . . . . . . . . . . . . . . . . . 123, 208
End . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
End1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 332
End2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 332
End3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 332
End4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332
End5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332
End6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332
End7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332
Energy Saving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
Energy Saving Coefficient Value . . . . . . . . . . . . . . . . . . . . . . . 164
Energy Saving Control Filter Time Constant . . . . . . . . . . . . . . 164
Energy Saving Control Selection . . . . . . . . . . . . . . . . . . . . . . . 164
Energy Saving Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
Enter Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
Enter command necessary . . . . . . . . . . . . . . . . . . . . . . . . . . . . 494
Enter command not necessary . . . . . . . . . . . . . . . . . . . . . . . . . 494
Enter Command Settings when Upgrading the Drive . . . . . . . 513
Enter Command Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
Enter Data from the Motor Nameplate. . . . . . . . . . . . . . . . . . . 118
Er-01. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 333
Er-02. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 333
Er-03. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 333
Er-04. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 333
Er-05. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 333
Er-08. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 333
Er-09. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 333
Er-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333
Er-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 334
Er-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 334
Er-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
Er-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
Er-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
Er-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
Er-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
Er-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
Er-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
Er-20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
Er-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
Err . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305, 313
Error Reading Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
Error Writing Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
Errors and Displays When Using the Copy Function . . . . . . . 308
European Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520
Excessive Motor Oscillation and Erratic Rotation . . . . . . . . . . 343
Excessive PID Feedback . . . . . . . . . . . . . . . . . 305, 307, 313, 325
Excessive Speed Deviation (for Simple V/f with PG) . . . 305, 306
Excessive Speed Deviation Detection Delay Time . . . . . . . . . 210
Excessive Speed Deviation Detection Level . . . . . . . . . . . . . . 210
Excessive V/f Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 332
Exhaust Fan Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Exterior and Mounting Dimensions . . . . . . . . . . . . . . . . . . . . . . 47
External Digital Operator Connection Fault. . . . . . . . . . . . . . . 319
External Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313, 324, 325
External Fault (input terminal S1 to S7). . . . . . . . . . . . . . 305, 307
External Fault from Comm. Option Detection Selection . . . . . 215
External Fault from Comm. Option Operation Selection. . . . . 215
External Interlock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
F
Fan Connector Cable (CN6) . . . . . . . . . . . . . . . . . . . . . . . . . . . 363
Fan Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34, 356
Fan Guard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35, 36, 364
Fan Relay Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363
Fan Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35, 36, 363
Fast Stop Sequence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
Fast Stop Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Fault Causes and Solutions. . . . . . . . . . . . . . . . . . . . . . . . . . . . 310
Fault Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310
Fault Displays. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305, 306, 310
Fault History. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294, 338, 458
Fault Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Fault Reset Interval Time . . . . . . . . . . . . . . . . . . . . . . . . . 267, 445
Fault Reset Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
Fault Reset Operation Selection . . . . . . . . . . . . . . . . . . . . 267, 445
Fault Restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266
Fault Trace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294, 338, 457
Fault Trace / History Register Contents . . . . . . . . . . . . . . . . . . 510
Fault Trace Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304, 305
FbH. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305, 307, 313, 325
FbL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305, 307, 314, 325
Feed Forward Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
Feed Forward Control Diagram . . . . . . . . . . . . . . . . . . . . . . . . 282
Feed Forward Control Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
Feed Forward Control Selection. . . . . . . . . . . . . . . . . . . . . . . . 282
Ferrule Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Ferrule Terminal Types and Sizes . . . . . . . . . . . . . . . . . . . . . . . 79
Ferrule-Type Wire Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Field Forcing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
Field Forcing Limit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Field Forcing Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Field Weakening. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
Field Weakening Frequency Limit . . . . . . . . . . . . . . . . . . . . . . 194
Field Weakening Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
Fine-Tuning Advanced Open Loop Vector Control for PM
Motors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
Fine-Tuning Closed Loop Vector Control . . . . . . . . . . . . . . . . 301
Fine-Tuning Closed Loop Vector Control for PM Motors . . . . 302
Fine-Tuning Open Loop Vector Control. . . . . . . . . . . . . . . . . . 300
Fine-Tuning Open Loop Vector Control for PM Motors . . . . . 301
Fine-Tuning V/f Control and V/f Control with PG . . . . . . . . . 300
FJOG/RJOG Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
FM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Formula to calculate the amount of voltage drop. . . . . . . . . . . . 68
Forward Regenerative Torque Limit . . . . . . . . . . . . . . . . 271, 446
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 545
Forward Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . 271, 446
Forward/Reverse Run Command Input Error . . . . . . . . . . . . . 324
FOUT LED Light . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Frequency Accuracy (Temperature Fluctuation) . . . . . . . . . . . 399
Frequency Control Range. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
Frequency Detection 1 Time Chart . . . . . . . . . . . . . . . . . . . . . 230
Frequency Detection 2 Time Chart . . . . . . . . . . . . . . . . . . . . . 230
Frequency Detection 3 Example with a Positive L3-04
Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
Frequency Detection 4 Example with Positive L3-04
Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
Frequency Gain at KEB Start . . . . . . . . . . . . . . . . . . . . . . . . . . 258
Frequency Meter / Ammeter . . . . . . . . . . . . . . . . . . . . . . . . . . 380
Frequency Meter Potentiometer . . . . . . . . . . . . . . . . . . . . . . . . 380
Frequency Reduction Rate during Overheat
Pre-Alarm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273, 447
Frequency Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182, 455
Frequency Reference at Previous Fault . . . . . . . . . . . . . . . . . . 457
Frequency Reference at Reference Loss . . . . . . . . . . . . . 266, 444
Frequency Reference Bias . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
Frequency Reference Bias (Up/Down 2) . . . . . . . . . . . . . . . . . 461
Frequency Reference Bias Accel/Decel . . . . . . . . . . . . . . . . . . 188
Frequency Reference Bias Lower Limit. . . . . . . . . . . . . . . . . . 189
Frequency Reference Bias Operation Mode Selection. . . . . . . 188
Frequency Reference Bias Step . . . . . . . . . . . . . . . . . . . . . . . . 187
Frequency Reference Bias Upper Limit . . . . . . . . . . . . . . . . . . 189
Frequency Reference from MEMOBUS/Modbus Comm. . . . . 459
Frequency Reference Hold. . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Frequency Reference Hold Function Selection . . . . . . . . . . . . 185
Frequency Reference Loss Detection Selection. . . . . . . . 265, 444
Frequency Reference Lower Limit. . . . . . . . . . . . . . . . . . . . . . 184
Frequency Reference Monitor Content During PID . . . . . . . . 161
Frequency Reference Selection . . . . . . . . . . . . . . . . . . . . . . . . 409
Frequency Reference Selection 1 . . . . . . . . . . . . . . . . . . . 137, 341
Frequency Reference Selection 2 . . . . . . . . . . . . . . . . . . . . . . . 144
Frequency Reference Setting / Decimal Display . . . . . . . . . . . 450
Frequency Reference Setting and User-Set Display. . . . . . . . . 450
Frequency Reference Setting Hierarchy. . . . . . . . . . . . . . . . . . 182
Frequency Reference Setting Method Selection . . . . . . . 289, 451
Frequency Reference Source Selection . . . . . . . . . . . . . . . . . . 459
Frequency Reference Upper Limit . . . . . . . . . . . . . . . . . . . . . . 184
Frequency Setting Potentiometer . . . . . . . . . . . . . . . . . . . . . . . 380
Frequency Setting Resolution. . . . . . . . . . . . . . . . . . . . . . . . . . 399
Frequency Setting Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
Front Cover. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34, 35, 36
Front Cover Screw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34, 35, 36
Function Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
Functions for Terminals S1 to S8 . . . . . . . . . . . . . . . . . . . . . . . 217
Fuse. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379, 391
Fuse Holder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
Fuse Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520, 527
G
General Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
GF. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305, 314
Ground Fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305, 314
Ground Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Ground Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
H
H1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
H1 Multi-Function Digital Input Selections. . . . . . . . . . . . . . . 432
H2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
H3 Multi-Function Analog Input Settings . . . . . . . . . . . . . . . . 439
Hbb . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 325
HbbF. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 325
HC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
HCA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 325
HD. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
HD and ND. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 396
Heatsink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34, 35, 36
Heatsink Cooling Fan Off-Delay Time. . . . . . . . . . . . . . . . . . . 274
Heatsink Cooling Fan Operation Delay Time . . . . . . . . . . . . . 446
Heatsink Cooling Fan Operation Selection . . . . . . . . . . . 274, 446
Heatsink Overheat . . . . . . . . . . . . . . . . . . . . . . 306, 307, 317, 326
Heatsink Temperature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 458
Heavy Duty. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32, 178, 396
Heavy Duty Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 396
High Current Alarm Selection . . . . . . . . . . . . . . . . . . . . . . . . . 276
High Frequency Injection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
High Frequency Injection during Overexcitation
Deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
High Performance Operation Using OLV or CLV . . . . . . . . . . 105
High Slip Braking. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
High Slip Braking Current Limit . . . . . . . . . . . . . . . . . . . . . . . 280
High Slip Braking Deceleration Frequency Width. . . . . . . . . . 279
High Slip Braking Dwell Time at Stop. . . . . . . . . . . . . . . . . . . 280
High Slip Braking oL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
High Slip Braking Overload Time . . . . . . . . . . . . . . . . . . . . . . 280
High Slip Suppression Current Level . . . . . . . . . . . . . . . . . . . . 281
High-slip Braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
High-Slip Braking Current Limit . . . . . . . . . . . . . . . . . . . . . . . 448
High-Slip Braking Deceleration Frequency Width. . . . . . . . . . 448
High-Slip Braking Dwell Time at Stop . . . . . . . . . . . . . . . . . . 448
High-slip Braking oL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
High-Slip Braking Overload Time . . . . . . . . . . . . . . . . . . 319, 448
High-Slip Suppression Current Level. . . . . . . . . . . . . . . . . . . . 448
Hoist Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
HSB. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
Humidity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Hunting Prevention. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
Hunting Prevention Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
Hunting Prevention Gain Setting . . . . . . . . . . . . . . . . . . . 278, 447
Hunting Prevention Gain while in Reverse . . . . . . . . . . . 278, 448
Hunting Prevention Selection. . . . . . . . . . . . . . . . . . . . . . 278, 447
Hunting Prevention Time Constant . . . . . . . . . . . . . . . . . 278, 447
HVAC Fan Application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
I
I Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
iFEr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
IG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
IGBT Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 458
IGBT Maintenance Setting. . . . . . . . . . . . . . . . . . . . . . . . 292, 451
IGBT Maintenance Time (50%) . . . . . . . . . . . . . . . . . . . . . . . . 326
IGBT Maintenance Time (90%) . . . . . . . . . . . . . . . . . . . . . . . . 327
Induced Noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
Induced Voltage Constant Unit Selection. . . . . . . . . . . . . . . . . 123
Induction Voltage Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
Inertia Detection Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
Inertia Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Inertia Tuning Frequency Reference . . . . . . . . . . . . . . . . . . . . 124
Inertia Tuning Reference Amplitude . . . . . . . . . . . . . . . . . . . . 124
Initial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Initial Rotor Position Detection Selection . . . . . . . . . . . . . . . . 284
Initial Rotor Position Estimation Current . . . . . . . . . . . . . . . . . 284
Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Initialization required . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329
Initialize Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127, 133
Input Current. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397, 398
Input Fuses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391, 520, 527
Input Noise Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
Input Phase Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 320
Input Phase Loss Protection Selection . . . . . . . . . . . . . . . 273, 446
Input Power. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397, 398
546 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Input Pulse Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457
Input Terminal Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455
Input Terminal Status at Previous Fault . . . . . . . . . . . . . . . . . . 457
Input Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Input Voltage Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
Inrush Prevention Circuit Fault . . . . . . . . . . . . . . . . . . . . . . . . 322
Inrush Prevention Relay Maintenance Setting. . . . . . . . . . . . . 451
Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351, 352
Installation Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Installation Method Selection. . . . . . . . . . . . . . . . . . . . . . . . . . 276
Installation Orientation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Installation Orientation and Spacing . . . . . . . . . . . . . . . . . . . . . 42
Installation Spacing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Installing a Braking Resistor Unit: LKEB type . . . . . . . . . . . . 386
Installing a Braking Resistor: ERF type. . . . . . . . . . . . . . . . . . 385
Installing a Braking Unit: CDBR Type . . . . . . . . . . . . . . . . . . 386
Installing a Leakage Breaker . . . . . . . . . . . . . . . . . . . . . . . . . . 388
Installing a Magnetic Contactor . . . . . . . . . . . . . . . . . . . . . . . . 388
Installing a Molded Case Circuit Breaker (MCCB). . . . . . . . . 387
Installing a Motor Thermal Overload (oL) Relay on the
Drive Output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392
Installing Other Types of Braking Resistors . . . . . . . . . . . . . . 386
Installing Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . 385
Installing the Cooling Fan . . . . . . . . . . . . . . . . . . . . 358, 360, 366
Insulation Barrier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Insulation Cap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Integral Limit Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Integral Operation during Accel/Decel . . . . . . . . . . . . . . . . . . 176
Integral Operation during Accel/Decel for Motor 2. . . . . . . . . 178
Integral Time Setting (I). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Interlock Circuit Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Internal Braking Transistor Protection. . . . . . . . . . . . . . . . . . . 277
Internal Dynamic Braking Resistor Protection Selection
(ERF type) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272, 446
Inversion Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
Inversion Prevention Detection . . . . . . . . . . . . . . . . . . . . . . . . 312
IP00 Enclosure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
IP20/NEMA Type 1 Enclosure. . . . . . . . . . . . . . . . . . . . . . . . . . 33
Isolator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
J
Jog Frequency Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Jump Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184, 303
Jump Frequency Width . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
Jumper S3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
K
KEB Acceleration Time . . . . . . . . . . . . . . . . . . . . . . . . . . 258, 442
KEB Deceleration Time . . . . . . . . . . . . . . . . . . . . . . . . . . 257, 442
KEB Detection Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
KEB Function Related Adjustments . . . . . . . . . . . . . . . . . . . . 256
KEB Method Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
KEB Operation Using a KEB Input . . . . . . . . . . . . . . . . . . . . . 253
KEB Operation Using L2-02 and KEB Input . . . . . . . . . . . . . 254
KEB Operation Using L2-02, Without KEB Input . . . . . . . . . 254
KEB Operation Using L2-10 and KEB Input . . . . . . . . . . . . . 255
KEB Operation Using L2-10, Without KEB Input . . . . . . . . . 255
KEB Operation Wiring Example . . . . . . . . . . . . . . . . . . . . . . . 256
KEB Ride-Thru End Detection . . . . . . . . . . . . . . . . . . . . . . . . 254
KEB Ride-Thru Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252
KEB Ride-Thru Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
KEB Start Output Frequency Reduction . . . . . . . . . . . . . . . . . 443
Keys and Displays on the Digital Operator . . . . . . . . . . . . . . . . 93
kWh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 459
kWh Monitor Initial Value Selection . . . . . . . . . . . . . . . . . . . . 452
kWh Monitor Initialization. . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
kWh, Lower 4 Digits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 459
kWh, Upper 5 Digits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 459
L
L Protection Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442
Language Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
LCD Operator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
Leakage Inductance Alarm. . . . . . . . . . . . . . . . . . . . . . . . . . . . 332
Leakage Inductance Error. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
LED Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 459
LED Screen Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
LF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305, 314
LF2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305, 314
Line Driver PG. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
Line-to-Line Motor Resistance Online Tuning . . . . . . . . . . . . 449
Line-to-Line Resistance Error . . . . . . . . . . . . . . . . . . . . . 308, 333
LO/RE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95, 102, 125
LO/RE (LOCAL/REMOTE) Key Function Selection . . . . . . . 288
LO/RE LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
LO/RE Light . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Load Current. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449
Load Falls When Brake is Applied . . . . . . . . . . . . . . . . . . . . . 343
Load Inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286, 450
Load Inertia Ratio. . . . . . . . . . . . . . . . . . . . . . . 177, 264, 319, 444
LOCAL. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
LOCAL/REMOTE Key Function Selection . . . . . . . . . . . . . . 451
LOCAL/REMOTE Run Selection . . . . . . . . . . . . . . . . . . . . . . 143
Loopback Test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 499
Loss of Reference Function . . . . . . . . . . . . . . . . . . . . . . . . . . . 266
Low Voltage Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520
Low Voltage Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528
Low Voltage Wiring for Control Circuit Terminals . . . . . . . . . 528
LT-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
LT-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
LT-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
LT-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
M
M1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
M2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
MA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Magnetic Contactor (Input) . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
Magnetic Flux Compensation Value . . . . . . . . . . . . . . . . . . . . 146
Main Circuit Connection Diagram. . . . . . . . . . . . . . . . . . . . 58, 74
Main Circuit Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Main Circuit Terminal and Motor Wiring . . . . . . . . . . . . . . . . . 73
Main Circuit Terminal Block Configuration . . . . . . . . . . . . . . . 60
Main Circuit Terminal Functions . . . . . . . . . . . . . . . . . . . . . . . . 67
Main Circuit Terminal Wiring . . . . . . . . . . . . . . . . . . . . . . 74, 526
Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Main Power Circuit Voltage Adjustment Gain. . . . . . . . . . . . . 443
Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353, 354
Maintenance Alarms. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
Maintenance Monitor Settings . . . . . . . . . . . . . . . . . . . . . . . . . 291
Maintenance Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . 294, 458
Master Speed Reference Lower Limit . . . . . . . . . . . . . . . . . . . 184
Max. Motor Capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Maximum Applicable Motor Capacity. . . . . . . . . . . . . . . 397, 398
Maximum Output Frequency . . . . . . . . . . . . . . . . . . 200, 397, 398
Maximum Output Voltage . . . . . . . . . . . . . . . . . . . . . . . . 397, 398
Maximum Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
MB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
MC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Mechanical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Mechanical Weakening Detection . . . . . . . . . . . . . . . . . . . . . . 269
Mechanical Weakening Detection 1. . . . . . . . . 306, 307, 318, 327
Mechanical Weakening Detection 2. . . . . . . . . . . . . . . . . . . . . 321
Mechanical Weakening Detection Operation. . . . . . . . . . 269, 445
Mechanical Weakening Detection Speed Level . . . . . . . . 270, 445
Mechanical Weakening Detection Start Time . . . . . . . . . 270, 445
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 547
Mechanical Weakening Detection Time. . . . . . . . . . . . . . 270, 445
MECHATROLINK Parameters . . . . . . . . . . . . . . . . . . . . . . . . 216
MEMOBUS/Modbus Comm. Test Mode Complete . . . . . . . . 327
MEMOBUS/Modbus Communication. . . . . . . . . . . . . . . . . . . . 77
MEMOBUS/Modbus Communication
Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305, 306, 310, 324
MEMOBUS/Modbus Communication Test Mode Error . . . . . 327
MEMOBUS/Modbus Communications . . . . . . . . . . . . . . . . . . 487
MEMOBUS/Modbus Communications Reference . . . . . . . . . 459
MEMOBUS/Modbus Data Table . . . . . . . . . . . . . . . . . . . . . . . 501
MEMOBUS/Modbus Error Code. . . . . . . . . . . . . . . . . . . . . . . 456
MEMOBUS/Modbus Error Codes . . . . . . . . . . . . . . . . . . . . . . 514
MEMOBUS/Modbus Setup Parameters. . . . . . . . . . . . . . . . . . 492
MEMOBUS/Modbus Specifications . . . . . . . . . . . . . . . . . . . . 489
MEMOBUS/Modbus Switch Settings . . . . . . . . . . . . . . . . . . . . 87
MEMOBUS/Modbus Termination . . . . . . . . . . . . . . . . . . . . . . . 87
MEMOBUS/Modbus Test Mode Complete . . . . . . . . . . . . . . . 307
Menu Structure for Digital Operator . . . . . . . . . . . . . . . . . . . . . 96
Message Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
Meter Plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
Mid Output Voltage A . . . . . . . . . . . . . . . . . . . . . . . . . . . 300, 301
Middle Output Frequency. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
Middle Output Frequency 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
Middle Output Frequency Voltage . . . . . . . . . . . . . . . . . . . . . . 200
Middle Output Frequency Voltage 2 . . . . . . . . . . . . . . . . . . . . 200
Minimum KEB Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
Minimum Output Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . 200
Minimum Output Frequency Voltage. . . . . . . . . . . . . . . . . . . . 200
Minimum Output Voltage. . . . . . . . . . . . . . . . . . . . . . . . . 300, 301
Minimum Wait Time for Sending Messages . . . . . . . . . . . . . . 496
Minor Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
Minor Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333
Minor Fault and Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . 306
Minor Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
Minor Faults and Alarms . . . . . . . . . . . . . . . . . . . . . . . . . 304, 306
Model Number and Nameplate Check . . . . . . . . . . . . . . . . . . . . 31
Model, Voltage Class, Capacity Mismatch. . . . . . . . . . . . . . . . 336
Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Molded Case Circuit Breaker . . . . . . . . . . . . . . . . . . . . . . . . . . 379
Momentary Overcurrent Protection . . . . . . . . . . . . . . . . . . . . . 399
Momentary Power Loss Minimum Baseblock Time . . . . 257, 442
Momentary Power Loss Operation Selection. . . . . . . . . . 252, 442
Momentary Power Loss Recovery Unit . . . . . . . . . . . . . . . . . . 379
Momentary Power Loss Ride-Thru . . . . . . . . . . . . . . . . . 252, 399
Momentary Power Loss Ride-Thru Time. . . . . . . . . . . . . 257, 442
Momentary Power Loss Voltage Recovery Ramp
Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257, 442
Monitor Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Monitor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294, 455
Most Recent Fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 458
Motor 1 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
Motor 1/Motor 2 Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Motor 2 ASR Gain Switching Frequency . . . . . . . . . . . . . . . . 177
Motor 2 ASR Integral Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Motor 2 ASR Integral Time . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Motor 2 ASR Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Motor 2 ASR Primary Delay Time Constant . . . . . . . . . . . . . . 177
Motor 2 ASR Proportional Gain. . . . . . . . . . . . . . . . . . . . . . . . 177
Motor 2 Base Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
Motor 2 Base Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
Motor 2 Control Mode Selection . . . . . . . . . . . . . . . . . . . . . . . 204
Motor 2 Inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
Motor 2 Iron Loss. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
Motor 2 Leakage Inductance . . . . . . . . . . . . . . . . . . . . . . . . . . 206
Motor 2 Line-to-Line Resistance . . . . . . . . . . . . . . . . . . . . . . . 206
Motor 2 Load Inertia Ratio. . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
Motor 2 Max Output Frequency. . . . . . . . . . . . . . . . . . . . . . . . 204
Motor 2 Max Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
Motor 2 Mechanical Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
Motor 2 Mid Output Frequency . . . . . . . . . . . . . . . . . . . . . . . . 204
Motor 2 Mid Output Frequency 2. . . . . . . . . . . . . . . . . . . . . . . 204
Motor 2 Mid Output Frequency Voltage. . . . . . . . . . . . . . . . . . 204
Motor 2 Mid Output Frequency Voltage 2 . . . . . . . . . . . . . . . . 204
Motor 2 Minimum Output Frequency . . . . . . . . . . . . . . . . . . . 204
Motor 2 Minimum Output Frequency Voltage . . . . . . . . . . . . . 204
Motor 2 Motor Iron-Core Saturation Coefficient 1 . . . . . . . . . 206
Motor 2 Motor Iron-Core Saturation Coefficient 2 . . . . . . . . . 206
Motor 2 Motor Poles. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
Motor 2 Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
Motor 2 Rated Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
Motor 2 Rated No-Load Current . . . . . . . . . . . . . . . . . . . . . . . 205
Motor 2 Rated Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
Motor 2 Rated Slip . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
Motor 2 Slip Compensation Gain. . . . . . . . . . . . . . . . . . . . . . . 170
Motor 2 Slip Compensation Limit . . . . . . . . . . . . . . . . . . . . . . 170
Motor 2 Slip Compensation Primary Delay Time . . . . . . . . . . 170
Motor 2 Slip Compensation Selection during
Regeneration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Motor 2 Torque Compensation Gain . . . . . . . . . . . . . . . . . . . . 172
Motor Acceleration Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
Motor Acceleration Time for Inertia Calculations . . . . . . 264, 444
Motor Base Frequency . . . . . . . . . . . . . . . . . . . . . . . 118, 120, 452
Motor Base Speed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120, 452
Motor Code Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . 207, 472
Motor Data Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 333
Motor d-Axis Current at Previous Fault . . . . . . . . . . . . . . . . . . 458
Motor d-Axis Inductance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
Motor Direction at Power Up when Using Operator . . . . 290, 451
Motor Direction Error. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333
Motor Does Not Rotate. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
Motor Excitation Current (ld). . . . . . . . . . . . . . . . . . . . . . . . . . 460
Motor Hunting and Oscillation Control Parameters. . . . . . . . . 303
Motor Induction Voltage Constant 1. . . . . . . . . . . . . . . . . . . . . 208
Motor Induction Voltage Constant 2. . . . . . . . . . . . . . . . . . . . . 208
Motor Inertia. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124, 177
Motor Iron Core Saturation Coefficient Error . . . . . . . . . . . . . 308
Motor Iron Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121, 453
Motor Iron Loss for Torque Compensation . . . . . . . . . . . . . . . 202
Motor Iron-Core Saturation Coefficient . . . . . . . . . . . . . . . . . . 332
Motor Iron-Core Saturation Coefficient 1 . . . . . . . . . . . . . . . . 202
Motor Iron-Core Saturation Coefficient 2 . . . . . . . . . . . . . . . . 202
Motor is Too Hot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342
Motor Leakage Inductance . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
Motor Line-to-Line Resistance. . . . . . . . . . . . . . . . . . . . . . . . . 202
Motor Mechanical Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
Motor No-Load Current . . . . . . . . . . . . . . . . . . . . . . . . . . 120, 201
Motor Overheat. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 326
Motor Overheat 1 (PTC input) . . . . . . . . . . . . . . . . . . . . . . . . . 306
Motor Overheat 2 (PTC input) . . . . . . . . . . . . . . . . . . . . . . . . . 306
Motor Overheat Alarm (PTC Input) . . . . . . . . . . . . . . . . . . . . . 317
Motor Overheat Alarm Operation Selection. . . . . . . . . . . 251, 442
Motor Overheat Fault (PTC Input) . . . . . . . . . . . . . . . . . . . . . . 317
Motor Overheat Fault Operation Selection. . . . . . . . . . . . 251, 442
Motor Overload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 318
Motor Overload Estimate (oL1) . . . . . . . . . . . . . . . . . . . . . . . . 459
Motor Overload Protection Selection . . . . . . . . . . . . 247, 442, 528
Motor Overload Protection Time . . . . . . . . . . . . . . . 249, 442, 529
Motor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
Motor Performance Fine-Tuning . . . . . . . . . . . . . . . . . . . . . . . 300
Motor Poles. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Motor Produces Insufficient Torque. . . . . . . . . . . . . . . . . . . . . 344
Motor Protection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
Motor Protection Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318
Motor Protection Using a Positive Temperature
548 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Coefficient . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
Motor PTC Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
Motor Pull Out or Step Out Detection . . . . . . . . . . . . . . . . . . . 321
Motor q-Axis Current at Previous Fault. . . . . . . . . . . . . . . . . . 457
Motor q-Axis Inductance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
Motor Rated Current . . . . . . . . . . . . 118, 120, 201, 207, 452, 528
Motor Rated Power . . . . . . . . . . . . . . . . . . . . . 119, 203, 207, 452
Motor Rated Slip . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121, 201
Motor Rated Voltage . . . . . . . . . . . . . . . . . . . . . . . . 118, 119, 452
Motor Rotates After the Drive Output is Shut Off. . . . . . . . . . 345
Motor Rotates Faster Than the Frequency Reference . . . . . . . 343
Motor Rotates in One Direction Only . . . . . . . . . . . . . . . . . . . 342
Motor Secondary Current (Iq) . . . . . . . . . . . . . . . . . . . . . . . . . 460
Motor Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
Motor Selection 1/2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 452
Motor Speed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455
Motor Speed at Previous Fault . . . . . . . . . . . . . . . . . . . . . . . . . 457
Motor Speed Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
Motor Speed Error 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
Motor Speed Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
Motor Stalls During Acceleration or With Large Loads . . . . . 342
Motor Stator Resistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
Motor Switch during Run. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327
Motor Temperature Input Filter Time . . . . . . . . . . . . . . . 251, 442
Motor Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Mounting Hole . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34, 35, 36
MP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Multi-Function Analog Input Selection Error . . . . . . . . . 308, 330
Multi-Function Analog Input Terminal Settings . . . . . . . . . . . 240
Multi-Function Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . 237
Multi-Function Analog Output Terminal AM Bias . . . . . . . . . 243
Multi-Function Analog Output Terminal AM Gain. . . . . . . . . 243
Multi-Function Analog Output Terminal AM Monitor
Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
Multi-Function Analog Output Terminal AM Signal
Level Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244
Multi-Function Analog Output Terminal FM Bias . . . . . . . . . 243
Multi-Function Analog Output Terminal FM Gain . . . . . . . . . 243
Multi-Function Analog Output Terminal FM Monitor
Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
Multi-Function Analog Output Terminal FM Signal
Level Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244
Multi-Function Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . 242
Multi-Function Digital Input Terminal Settings. . . . . . . . . . . . 217
Multi-Function Digital Inputs . . . . . . . . . . . . . . . . . . . . . . 76, 217
Multi-Function Digital Output . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Multi-Function Digital Output Terminal Settings . . . . . . . . . . 228
Multi-Function Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . 227
Multi-Function Input Selection Error. . . . . . . . . . . . . . . . . . . . 329
Multi-Function Input Setting Error . . . . . . . . . . . . . . . . . . . . . 308
Multi-Function Photocoupler Output . . . . . . . . . . . . . . . . . . . . . 77
Multiple Drive Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Multiple Drive Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Multi-Step Speed Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
N
n Advanced Performance Set Up . . . . . . . . . . . . . . . . . . . . . . . 447
n2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
Nameplate. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Navigating the Drive and Programming Modes . . . . . . . . . . . . 97
ND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
ndAT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
NEMA 1 Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
NetRef/ComRef Function Selection. . . . . . . . . . . . . . . . . . . . . 215
Network Termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491
Node setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
Noise From the Drive or Output Lines When the Drive
is Powered On. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344
No-Load Current Alarm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332
No-Load Current Error . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 333
No-Load Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
No-Load Operation Test Run . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Normal Duty. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32, 178, 396
Normal Duty Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 396
Notes on Controlling the Brake when Using the Hoist
Application Preset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Notes on Inertia Tuning and ASR Gain Auto-Tuning . . . . . . . 117
Notes on Motor Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Notes on Rotational Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . 116
Notes on Stationary Auto-Tuning. . . . . . . . . . . . . . . . . . . . . . . 116
nSE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
Number of Auto Restart Attempts . . . . . . . . . . . . . . . . . . 267, 445
Number of Motor Poles . . . . . . . . . . . . . . . . . . 120, 201, 208, 452
Number of PM Motor Poles . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
Number of Run Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . 458
Number of Run Commands Counter Initialization . . . . . . . . . 292
Number of Speed Search Restarts . . . . . . . . . . . . . . . . . . . . . . 151
O
oC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305, 315
oFA00 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305, 315
oFA01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305, 315
oFA03 to oFA06 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
oFA10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
oFA11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
oFA12 to oFA17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
oFA30 to oFA43 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305, 315
oFb00 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
oFb01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
oFb02 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
oFb03 to oFb11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
oFb12 to oFb17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
oFb30 to oFb43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
oFC00 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
oFC01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
oFC02 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
oFC03 to oFC11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
oFC12 to oFC17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
oFC30 to oFC43 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
Offset Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195, 461
oH. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 307, 317, 326
oH1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 317
oH2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 326
oH3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 307, 317, 326
oH4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 317
oL1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 318
oL2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 318, 345
oL2 Characteristics Selection at Low Speeds . . . . . . . . . 275, 446
oL3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 307, 318, 326
oL4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 307, 318, 326
oL5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 307, 318, 327
oL7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 319
Online Tuning Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
Online Tuning Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
oPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329
oPE Fault Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329, 456
oPE01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 329
oPE02 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 329
oPE03 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 329
oPE04 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 329
oPE05 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 330
oPE06 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 330
oPE07 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 330
oPE08 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 330
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 549
oPE09 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 330
oPE10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 331
oPE11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 331
oPE13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 331
oPE15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
oPE18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
Open Loop Vector Control . . . . . . . . . . . . . 30, 301, 310, 343, 344
Open Loop Vector Control for IPM Motors . . . . . . . . . . . . . . . . 30
Open Loop Vector Control for PM Motors . . . . . . . . . . . . . . . . 30
Open Loop Vector Control Mode Tuning. . . . . . . . . . . . . . . . . 300
Open Loop Vector Control Mode Tuning Parameters . . . 301, 302
Open Loop Vector Control Mode Tuning
Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300, 301, 302
Operating with the Load Connected. . . . . . . . . . . . . . . . . . . . . 126
Operation Error Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
Operation Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304, 308
Operation Selection at Deviation (dEv) . . . . . . . . . . . . . . . . . . 210
Operation Selection at Overspeed (oS) . . . . . . . . . . . . . . . . . . 209
Operation Selection at PG Open Circuit (PGo) . . . . . . . . . . . . 209
Operation Selection when Digital Operator is
Disconnected . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290, 451
Operation Status Monitors . . . . . . . . . . . . . . . . . . . . 294, 455, 460
Operation with Permanent Magnet Motors . . . . . . . . . . . . . . . 106
Operator Connection Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
Operator Programming Errors . . . . . . . . . . . . . . . . . . . . . . . . . 329
Operator Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . 450
Operator Related Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
oPr. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 319
Option Card Communications Error . . . . . . . . . . . . . . . . . . . . 306
Option Card Connection Error at Option Port CN5-A. . . . . . . 315
Option Card Connection Error at Option Port CN5-C. . . . . . . 316
Option card connector (CN5-A). . . . . . . . . . . . . . . . . . . . . . . . . 37
Option card connector (CN5-B) . . . . . . . . . . . . . . . . . . . . . . . . . 37
Option card connector (CN5-C) . . . . . . . . . . . . . . . . . . . . . . . . . 37
Option card error occurred at option port CN5-A . . . . . . . . . . 315
Option card error occurred at option port CN5-B . . . . . . . . . . 316
Option card error occurred at option port CN5-C . . . . . . . . . . 317
Option Card External Fault . . . . . . . . . . . . . . . . . . . 305, 313, 324
Option Card Fault at Option Port CN5-A. . . . . . . . . . . . . . . . . 315
Option Card Fault at Option Port CN5-B. . . . . . . . . . . . . . . . . 316
Option Card Fault at Option Port CN5-C. . . . . . . . . . . . . . . . . 316
Option Card Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
Option Communication Error. . . . . . . . . . . . . . . . . . 305, 310, 323
Option Frequency Reference . . . . . . . . . . . . . . . . . . . . . . . . . . 459
Option Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Option Unit Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
Optional 24 V DC Power Supply Connector Cover. . . . . . . . . . 34
Optional 24 V DC power supply connector cover . . . . . . . . 35, 36
Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377
oS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 307, 319, 327
Oscillation or Hunting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344
Output Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455
Output Current 1 During Speed Search . . . . . . . . . . . . . . . . . . 150
Output Current at Previous Fault . . . . . . . . . . . . . . . . . . . . . . . 457
Output Current Imbalance . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314
Output Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455
Output Frequency after Soft Start. . . . . . . . . . . . . . . . . . . . . . . 456
Output Frequency at Previous Fault . . . . . . . . . . . . . . . . . . . . . 457
Output Frequency is not as High as Frequency Reference. . . . 345
Output Frequency Reduction During Overheat Alarm . . . . . . 273
Output Frequency Resolution. . . . . . . . . . . . . . . . . . . . . . . . . . 399
Output Ground Fault Detection Selection . . . . . . . . . . . . 274, 446
Output Noise Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
Output of speed control (ASR) (for Simple V/f PG) . . . . . . . . 460
Output Phase Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305, 314
Output Phase Loss Protection. . . . . . . . . . . . . . . . . . . . . . . . . . 446
Output Phase Loss Protection Selection. . . . . . . . . . . . . . . . . . 274
Output Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455
Output Power at Previous Fault . . . . . . . . . . . . . . . . . . . . . . . . 457
Output Terminal Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456
Output Terminal Status at Previous Fault . . . . . . . . . . . . . . . . . 457
Output Voltage at Previous Fault . . . . . . . . . . . . . . . . . . . . . . . 457
Output Voltage Detection Fault . . . . . . . . . . . . . . . . . . . . 322, 328
Output Voltage Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
Output Voltage Limit Operation Selection . . . . . . . . . . . . . . . . 170
Output Voltage Meter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
Output Voltage Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455
Output Voltage Reference (Vd) . . . . . . . . . . . . . . . . . . . . . . . . 460
Output Voltage Reference (Vq) . . . . . . . . . . . . . . . . . . . . . . . . 460
ov . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 307, 319, 327
ov Suppression Function Selection. . . . . . . . . . . . . . . . . . . . . . 443
Overcurrent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305, 315
Overcurrent Detection Gain . . . . . . . . . . . . . . . . . . . . . . . 275, 447
Overexcitation Deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
Overexcitation Deceleration Gain . . . . . . . . . . . . . . 281, 315, 448
Overexcitation Operation Selection . . . . . . . . . . . . . . . . . 281, 448
Overheat 1 (Heatsink Overheat) . . . . . . . . . . . . . . . . . . . . . . . . 317
Overheat Alarm Level . . . . . . . . . . . . . . . . . . . . . . . . . . . 272, 446
Overheat Pre-Alarm Operation Selection. . . . . . . . . . . . . 272, 446
Overload Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
Overload Tolerance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397, 398
Overspeed (for Control Mode with PG) . . . . . . . . . . . . . . 319, 327
Overspeed (for Simple V/f with PG) . . . . . . . . . . . . . . . . 306, 307
Overspeed Detection Delay Time. . . . . . . . . . . . . . . . . . . . . . . 209
Overspeed Detection Level. . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Overtorque 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 326
Overtorque 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 326
Overtorque Detection 1. . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 318
Overtorque Detection 2. . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 318
Overtorque Detection Operation. . . . . . . . . . . . . . . . . . . . . . . . 268
Overvoltage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 307, 319
Overvoltage Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
Overvoltage Suppression Function. . . . . . . . . . . . . . . . . . . . . . 262
Overvoltage Suppression Function Selection. . . . . . . . . . . . . . 263
P
P Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
P1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
P2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Parameter Access Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Parameter Range Setting Error . . . . . . . . . . . . . . . . . . . . . . . . . 329
Parameter Selection Error. . . . . . . . . . . . . . . . . . . . . . . . . 308, 330
Parameter Setting Range Error . . . . . . . . . . . . . . . . . . . . . . . . . 308
Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Parameters for KEB Ride-Thru . . . . . . . . . . . . . . . . . . . . . . . . 256
Parameters that Change with the Motor Code Selection . . . . . 472
Parameters to Minimize Motor Hunting and Oscillation . . . . . 303
PASS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 327
Password. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127, 134
Password Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Password Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Peak Hold Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 459
Peak Hold Output Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . 459
Performance Life . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
Performance Life Monitors Maintenance Monitors . . . . . . . . . 353
Periodic Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
Periodic Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377
Permanent Magnet Motor Control . . . . . . . . . . . . . . . . . . . . . . 106
PF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 320
PG 1 Division Rate for PG Pulse Monitor . . . . . . . . . . . . . . . . 210
PG 1 Gear Teeth 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
PG 1 Gear Teeth 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
550 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
PG 1 Pulses Per Revolution . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
PG 1 Rotation Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
PG 1 Signal Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
PG 2 Division Rate for PG Pulse Monitor . . . . . . . . . . . . . . . . 210
PG 2 Gear Teeth 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
PG 2 Gear Teeth 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
PG 2 Pulses Per Revolution . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
PG 2 Rotation Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
PG 2 Signal Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
PG Disconnect (for any control modes using a PG option
card) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
PG Disconnect (for Control Mode with PG) . . . . . . . . . . . . . . 327
PG Disconnect (for Simple V/f with PG). . . . . . . . . . . . . 306, 307
PG Hardware Fault (detected when using a PG-X3 option
card) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320, 327
PG Number of Pulses Per Revolution . . . . . . . . . . . . . . . . . . . 120
PG Number of Pulses Per Revolution for PM Motor
Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
PG Open-Circuit Detection Time. . . . . . . . . . . . . . . . . . . . . . . 209
PG Option Card Disconnection Detection 1 . . . . . . . . . . . . . . 211
PG Option Card Disconnection Detection 2 . . . . . . . . . . . . . . 211
PG Option Card Port for Motor 2 Selection. . . . . . . . . . . . . . . 211
PG Speed Control Card Settings . . . . . . . . . . . . . . . . . . . . . . . 209
PG-B3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
PG-B3 Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
PGo. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 307, 320, 327
PGoH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320, 327
PG-X3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
PG-X3 Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Phase Order Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Photocoupler and Contact Outputs. . . . . . . . . . . . . . . . . . . . . . . 83
PID Accel/Decel Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
PID Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
PID Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
PID Control Selection Error. . . . . . . . . . . . . . . . . . . . . . . . . . . 308
PID Control Selection Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . 330
PID Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460
PID Feedback High Detection Level . . . . . . . . . . . . . . . . . . . . 159
PID Feedback High Detection Time . . . . . . . . . . . . . . . . . . . . 159
PID Feedback Input Methods. . . . . . . . . . . . . . . . . . . . . . . . . . 153
PID Feedback Loss. . . . . . . . . . . . . . . . . . . . . . 305, 307, 314, 325
PID Feedback Loss Detection Selection . . . . . . . . . . . . . . . . . 158
PID Feedback Low Detection Level . . . . . . . . . . . . . . . . . . . . 159
PID Feedback Low Detection Time. . . . . . . . . . . . . . . . . . . . . 159
PID Fine Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
PID Function Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
PID Input (feedback) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460
PID Input Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
PID Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294, 460
PID Offset Adjustment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
PID Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460
PID Output Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344
PID Output Gain Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
PID Output Level Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
PID Output Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
PID Output Lower Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
PID Output Reverse Selection . . . . . . . . . . . . . . . . . . . . . . . . . 157
PID Primary Delay Time Constant . . . . . . . . . . . . . . . . . . . . . 157
PID Setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460
PID Setpoint Display Digits. . . . . . . . . . . . . . . . . . . . . . . . . . . 161
PID Setpoint Input Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . 153
PID Setpoint Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
PID Setpoint Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
PID Setpoint User Display. . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
PID Setpoint Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
PID Sleep . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
PID Sleep Delay Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
PID Sleep Function Start Level . . . . . . . . . . . . . . . . . . . . . . . . 159
PM Inductance Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
PM Motor Auto-Tuning Mode Selection . . . . . . . . . . . . . . . . . 121
PM Motor Base Frequency. . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
PM Motor Base Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
PM Motor Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
PM Motor Code Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
PM Motor Control Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
PM Motor d-Axis Inductance. . . . . . . . . . . . . . . . . . . . . . . . . . 122
PM Motor Induced Voltage Constant . . . . . . . . . . . . . . . . . . . . 123
PM Motor Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . 115
PM Motor q-Axis Inductance. . . . . . . . . . . . . . . . . . . . . . . . . . 123
PM Motor Rated Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
PM Motor Rated Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
PM Motor Rated Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
PM Motor Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
PM Motor Stator Resistance. . . . . . . . . . . . . . . . . . . . . . . . . . . 122
PM Motor Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
PM Speed Feedback Detection Suppression Gain . . . . . . . . . . 319
PM Stationary Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
PM Stationary Auto-Tuning for Stator Resistance. . . . . . . . . . 115
Pole Attraction Current. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
Power Detection Filter Time . . . . . . . . . . . . . . . . . . . . . . . . . . 164
Power Ratings (Three-Phase 200 V Class) . . . . . . . . . . . . . . . 397
Power Ratings (Three-Phase 400 V Class) . . . . . . . . . . . . . . . 398
Power Supply Inputs Instead of the Safe Disable Feature . . . . . 82
Powerboard Failure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
Powering Up the Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Predefined V/f Patterns. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Preparing the Ends of Shielded Cables . . . . . . . . . . . . . . . . . . . 80
Preset Reference Timing Diagram . . . . . . . . . . . . . . . . . . . . . . 183
Previous Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457
PROFIBUS-DP Parameters . . . . . . . . . . . . . . . . . . . . . . . 214, 216
Programming Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97, 99
Proportional Gain Setting (P) . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Protecting cover to prevent miswiring . . . . . . . . . . . . . . . . . . . . 37
PTC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
Pull-In Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285, 449
Pull-In Current Compensation Time Constant . . . . . 285, 319, 449
Pull-In Current during Accel/Decel for PM. . . . . . . . . . . . . . . 321
Pull-In Current Level for PM Motor Tuning . . . . . . . . . . . . . . 123
Pull-Out Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
Pulse Monitor Selection Error . . . . . . . . . . . . . . . . . . . . . . . . . 331
Pulse Output Connection Using External Voltage Supply . . . . . 84
Pulse Output Connection Using Internal Voltage Supply . . . . . 83
Pulse Train Input Bias . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
Pulse Train Input Filter Time . . . . . . . . . . . . . . . . . . . . . . . . . . 245
Pulse Train Input Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
Pulse Train Input Minimum Frequency . . . . . . . . . . . . . . . . . . 246
Pulse Train Input Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
Pulse Train Input Terminal RP Function Selection . . . . . . . . . 244
Pulse Train Input/Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244
Pulse Train Monitor Scaling. . . . . . . . . . . . . . . . . . . . . . . . . . . 246
Pulse Train Monitor Selection . . . . . . . . . . . . . . . . . . . . . . . . . 246
Q
q-axis ACR Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460
R
R- . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
R+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
R/L1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Radiated and Radio Frequency Noise . . . . . . . . . . . . . . . . . . . 391
Ramp to stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Rated Current Depending on Carrier Frequency . . . . . . . . . . . 180
Rated Current Setting Alarm . . . . . . . . . . . . . . . . . . . . . . 308, 332
Rated Output Capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . 397, 398
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 551
Rated Output Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397, 398
Rated Slip Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 333
Rated Voltage, Rated Frequency . . . . . . . . . . . . . . . . . . . 397, 398
rdEr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
READ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
rEAd . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
Reading Drive MEMOBUS/Modbus Register Contents . . . . . 499
Reading Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
Reattaching the Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . 63
Reattaching the Front Cover. . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Reattaching the Terminal Cover on an IP00 Enclosure
Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Reattaching the Terminal Cover on an IP20/NEMA Type 1
Enclosure Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Reattaching the Top Protective Cover . . . . . . . . . . . . . . . . . . . . 66
REMOTE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Removing the Cooling Fan (2A0169, 2A0211, 4A0139,
4A0165) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363
Removing the Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . 63
Removing the Fan Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357
Removing the Front Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Removing the Terminal Cover on an IP00 Enclosure
Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Removing the Terminal Cover on an IP20/NEMA Type 1
Enclosure Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Removing the Top Protective Cover . . . . . . . . . . . . . . . . . . . . . 66
Replacement Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
Replacing the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374
Reset Communication Parameters . . . . . . . . . . . . . . . . . . . . . . 215
Resistance Tuning Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332
Response Messages from Drive to Master . . . . . . . . . . . . . . . . 496
REV LED Light . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Reverse Direction Output Example Time Chart. . . . . . . . . . . . 234
Reverse Operation Selection . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Reverse Prohibited Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
Reverse Regenerative Torque Limit . . . . . . . . . . . . . . . . . 271, 446
Reverse Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271, 446
rF. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
rH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 320
Rotational Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . 114, 116
Rotational Auto-Tuning for V/f Control . . . . . . . . . . . . . . . . . 114
RP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
rr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 320
RS-422 Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491
RS-485 Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490
RTS Control Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493
Rubber Bushing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
rUn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 327
Run Command at Power Up. . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Run Command Input Error. . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
Run Command Method Selection . . . . . . . . . . . . . . . . . . . . . . 494
Run Command Selection . . . . . . . . . . . . . . . . . . . . . . . . . 341, 409
Run Command Selection 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
Run Command Selection 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Run Command Selection Error . . . . . . . . . . . . . . . . . . . . . . . . 308
Run command selection while in Programming Mode . . . . . . 143
Run Command Source Selection . . . . . . . . . . . . . . . . . . . . . . . 459
Run Command/Frequency Reference Source Selection
Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330
RUN LED. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
RUN LED and Drive Operation. . . . . . . . . . . . . . . . . . . . . . . . . 95
RUN LED Status and Meaning . . . . . . . . . . . . . . . . . . . . . . . . . 95
RUN Light . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
S
S-. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
S+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
S/L2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
S1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
S2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
S3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
S4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
S5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
S6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
S7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
S8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Safe Disable Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 530
Safe Disable Function Wiring Example (Source Mode) . . . . . 531
Safe Disable Input Function . . . . . . . . . . . . . . . . . . . . . . . . . . . 530
Safe Disable Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Safe Disable Monitor Output Function and Digital Operator
Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 532
Safe Disable Signal Input . . . . . . . . . . . . . . . . . . . . . . . . . 307, 325
Safety Hazard Definitions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Safety Input and EDM Terminal Status . . . . . . . . . . . . . . . . . . 532
Safety Monitor Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Safety Standard. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
Save Disable Signal Input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
SC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
S-Curve Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . 168, 303
SE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 327
Search Operation Voltage Limit . . . . . . . . . . . . . . . . . . . . . . . . 165
Self-diagnosing function of the serial communication
interface circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 515
SEr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 320
Serial Communication Terminals . . . . . . . . . . . . . . . . . . . . . . . . 77
Serial Communication Transmission Error . . . . . . . . . . . 306, 323
Serial Communications Cable Connection Terminals
(TB5). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490
Serial Communications Terminal and DIP Switch S2 . . . . . . . 491
Serviceable Parts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373
Setup Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Setup Group Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Setup Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Shielded Twisted-Pair Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Short Circuit Brake Time at Start . . . . . . . . . . . . . . . . . . . . . . . 146
Short Circuit Brake Time at Stop . . . . . . . . . . . . . . . . . . . . . . . 146
Short Circuit Braking Current . . . . . . . . . . . . . . . . . . . . . . . . . 146
SI-C3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381
Side-by-Side Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Side-by-Side Mounting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404
Side-by-Side Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Simple Motor Setup Using V/f Control . . . . . . . . . . . . . . . . . . 104
Simplified Setup Using the Setup Group . . . . . . . . . . . . . . . . . 100
SI-N3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381
Single Drive KEB Ride-Thru 1 . . . . . . . . . . . . . . . . . . . . . . . . 253
Single Drive KEB Ride-Thru 2 . . . . . . . . . . . . . . . . . . . . . . . . 253
Sink Mode (0 V Common), Internal Power Supply . . . . . . . . . . 81
Sink/source jumper S3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Sink/Source Mode, External Power Supply . . . . . . . . . . . . . . . . 82
SI-P3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381
SI-S3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381
SI-T3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381
Slave Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
Slip Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Slip Compensation Gain. . . . . . . . . . . . . . . . . . . . . . . . . . 169, 301
Slip Compensation Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Slip Compensation Primary Delay Time . . . . . . . . . . . . . 169, 301
Slip Compensation Selection during Regeneration . . . . . . . . . 169
Soft Charge Bypass Relay Maintenance. . . . . . . . . . . . . . . . . . 458
Soft Charge Bypass Relay Maintenance Time . . . . . . . . . . . . . 326
Soft Charge Circuit Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
Soft CLA Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447
552 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Soft Starter Speed Reference at Previous Fault . . . . . . . . . . . . 457
Software Current Limit Selection . . . . . . . . . . . . . . . . . . . . . . 275
Software No. (Flash) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457
Software No. (ROM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457
Software version. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Source Mode (+24 V Common), Internal Power Supply. . . . . . 81
Space Between Drives (Side-by-Side Mounting) . . . . . . . . . . . 43
Speed Agree 1 Time Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
Speed Agree 2 Time Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
Speed Agreement Detection Level. . . . . . . . . . . . . . . . . . 265, 444
Speed Agreement Detection Level (+/-) . . . . . . . . . . . . . 265, 444
Speed Agreement Detection Selection. . . . . . . . . . . . . . . . . . . 266
Speed Agreement Detection Width . . . . . . . . . . . . . . . . . 265, 444
Speed Agreement Detection Width (+/-) . . . . . . . . . . . . . 265, 444
Speed Control Accuracy. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
Speed Control Integral Time 1 . . . . . . . . . . . . . . . . . . . . . 319, 327
Speed Control Loop Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . 115
Speed Control Proportional Gain 1 . . . . . . . . . . . . . . . . . 319, 327
Speed Control Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
Speed Deviation (for Control Mode with PG) . . . . . . . . . . . . . 312
Speed Deviation (when using a PG option card) . . . . . . . . . . . 324
Speed Estimation Type Speed Search . . . . . . . . . . . . . . . 148, 319
Speed Feedback Detection Contol (AFR) Tuning . . . . . . . . . . 279
Speed Feedback Detection Control (AFR) Gain . . . . . . . 279, 448
Speed Feedback Detection Control (AFR) Time
Constant 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279, 448
Speed Feedback Detection Control (AFR) Time
Constant 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279, 448
Speed Feedback Detection Control Gain . . . . . . . . . . . . . 285, 449
Speed Feedback Detection Control Gain during ov
Suppression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
Speed Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
Speed Limit Bias . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192, 194
Speed Limit Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
Speed Limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
Speed Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
Speed Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147, 320
Speed Search Deactivation Current . . . . . . . . . . . . . . . . . . . . . 150
Speed Search Deceleration Time . . . . . . . . . . . . . . . . . . . . . . . 150
Speed Search Delay Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
Speed Search Detection Compensation Gain. . . . . . . . . . . . . . 151
Speed Search Estimation Type. . . . . . . . . . . . . . . . . . . . . . . . . 318
Speed Search Method Selection. . . . . . . . . . . . . . . . . . . . . . . . 151
Speed Search Restart Current Level. . . . . . . . . . . . . . . . . . . . . 151
Speed Search Restart Detection Time . . . . . . . . . . . . . . . . . . . 151
Speed Search Selection at Start . . . . . . . . . . . . . . . . . . . . . . . . 150
Speed Search Wait Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Speed/Torque Control Switchover Time . . . . . . . . . . . . . . . . . 194
Stall Prevention . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259, 303, 319
Stall Prevention Detection Time . . . . . . . . . . . . . . . . . . . . . . . 265
Stall Prevention during Deceleration . . . . . . . . . . . . . . . . . . . . 318
Stall Prevention Level during Acceleration . . . . . . . . . . . 260, 443
Stall Prevention Level during Run. . . . . . . . . . . . . . . . . . 262, 443
Stall Prevention Limit during Acceleration . . . . . . . . . . . 260, 443
Stall Prevention Selection during Acceleration . . . . . . . . 259, 443
Stall Prevention Selection during Deceleration . . . . . . . . 261, 443
Stall Prevention Selection during Run . . . . . . . . . . . . . . . 262, 443
Standard Connection Diagram. . . . . . . . . . . . . . . . . . . . . . . . . . 56
Starting Torque. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
Start-Up Flowcharts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Stationary Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Stationary Auto-Tuning 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Stationary Auto-Tuning 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Stationary Auto-Tuning for Line-to-Line Resistance. . . . . . . . 114
Stator Resistance Error. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
Status Display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
STo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 321
STOP button Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 333
STOP Key Function Selection . . . . . . . . . . . . . . . . . . . . . 289, 451
Stopping Method after Communication Error . . . . . . . . . . . . . 492
Stopping Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Storage Temperature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Surge Protector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
SvE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
Swing PWM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179, 396
Switching Between LOCAL and REMOTE . . . . . . . . . . . . . . 102
Switching Between Torque and Speed Control . . . . . . . . . . . . 192
System KEB Ride-Thru 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
System KEB Ride-Thru 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
T
T Motor Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 452
T/L3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Target DC Bus Voltage for Overvoltage Suppression
and Stall Prevention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263
Task Complete . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
Temperature Derating. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403
Terminal A1 Bias Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
Terminal A1 Function Selection. . . . . . . . . . . . . . . . . . . . . . . . 237
Terminal A1 Gain Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
Terminal A1 Signal Level Selection. . . . . . . . . . . . . . . . . . . . . 237
Terminal A2 Bias Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
Terminal A2 Function Selection. . . . . . . . . . . . . . . . . . . . . . . . 239
Terminal A2 Gain Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
Terminal A2 Input Signal Selection . . . . . . . . . . . . . . . . . . . . . . 85
Terminal A2 Signal Level Selection. . . . . . . . . . . . . . . . . . . . . 239
Terminal A3 Bias Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
Terminal A3 Function Selection. . . . . . . . . . . . . . . . . . . . . . . . 238
Terminal A3 Gain Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
Terminal A3 Signal Level Selection. . . . . . . . . . . . . . . . . . . . . 238
Terminal Block (TB 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Terminal Block (TB 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Terminal Block (TB 4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Terminal Block (TB 5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Terminal Block (TB 6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Terminal Block Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Terminal Board. . . . . . . . . . . . . . . . . . . . . . . . . 34, 35, 36, 37, 373
Terminal Board Connection Error . . . . . . . . . . . . . . . . . . . . . . 311
Terminal Board Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Terminal Board Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Terminal Board Wiring Guide . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Terminal Connections for Communication
Self-Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 515
Terminal Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34, 35, 61
Terminal cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Terminal Cover 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Terminal Cover Screw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Terminal M1-M2 Function Selection . . . . . . . . . . . . . . . . . . . . 227
Terminal M1-M2 Output Selection . . . . . . . . . . . . . . . . . . . . . 214
Terminal M3-M4 Output Selection . . . . . . . . . . . . . . . . . . . . . 214
Terminal P1-PC Function Selection . . . . . . . . . . . . . . . . . . . . . 227
Terminal P1-PC Output Selection . . . . . . . . . . . . . . . . . . . . . . 214
Terminal P2-PC Function Selection . . . . . . . . . . . . . . . . . . . . . 227
Terminal P2-PC Output Selection . . . . . . . . . . . . . . . . . . . . . . 214
Terminal P3-PC Output Selection . . . . . . . . . . . . . . . . . . . . . . 214
Terminal P4-PC Output Selection . . . . . . . . . . . . . . . . . . . . . . 214
Terminal P5-PC Output Selection . . . . . . . . . . . . . . . . . . . . . . 214
Terminal P6-PC Output Selection . . . . . . . . . . . . . . . . . . . . . . 214
Terminal V1 Monitor Bias . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Terminal V1 Monitor Gain. . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Terminal V1 Monitor Selection . . . . . . . . . . . . . . . . . . . . . . . . 213
Terminal V1 Signal Level. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Terminal V2 Monitor Bias . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Terminal V2 Monitor Gain. . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 553
Terminal V2 Monitor Selection . . . . . . . . . . . . . . . . . . . . . . . . 213
Terminal V2 Signal Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Termination. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Test Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116, 117, 118, 125
Test Run Checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Test Run with Load Connected . . . . . . . . . . . . . . . . . . . . . . . . 126
Tightening Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68, 79
Timer Function Off-Delay Time. . . . . . . . . . . . . . . . . . . . . . . . 152
Timer Function On-Delay Time . . . . . . . . . . . . . . . . . . . . . . . . 152
Too Many Speed Search Restarts . . . . . . . . . . . . . . . . . . . 306, 320
Top Protective Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34, 66
Top Protective Covers, Reattaching . . . . . . . . . . . . . . . . . . . . . . 62
Top Protective Covers, Removing . . . . . . . . . . . . . . . . . . . . 61, 62
Torque Compensation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Torque Compensation at Forward Start . . . . . . . . . . . . . . . . . . 172
Torque Compensation at Reverse Start . . . . . . . . . . . . . . . . . . 172
Torque Compensation Gain . . . . . . . . . . . . . . . . . . . . . . . 171, 300
Torque Compensation Primary Delay Time. . . . . . . . . . . 171, 300
Torque Compensation Primary Delay Time 2 . . . . . . . . . . . . . 172
Torque Compensation Primary Delay Time Constant 1. . . . . . 301
Torque Compensation Primary Delay Time Constant 2. . . . . . 300
Torque Compensation Time Constant . . . . . . . . . . . . . . . . . . . 172
Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
Torque Control Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . 190
Torque Control Input Value Selection . . . . . . . . . . . . . . . . . . . 191
Torque Control Reference Sources. . . . . . . . . . . . . . . . . . . . . . 191
Torque Control Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
Torque Control Setting Error . . . . . . . . . . . . . . . . . . . . . . . . . . 331
Torque Control Signal Polarity. . . . . . . . . . . . . . . . . . . . . . . . . 191
Torque Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
Torque Detection Level 1 . . . . . . . . . . . . . . . . . . . . . . . . . 269, 445
Torque Detection Level 2 . . . . . . . . . . . . . . . . . . . . . . . . . 269, 445
Torque Detection Selection 1 . . . . . . . . . . . . . . . . . . . . . . 268, 445
Torque Detection Selection 2 . . . . . . . . . . . . . . . . . . . . . . 268, 445
Torque Detection Time 1 . . . . . . . . . . . . . . . . . . . . . . . . . 269, 445
Torque Detection Time 2 . . . . . . . . . . . . . . . . . . . . . . . . . 269, 445
Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270, 399
Torque Limit Control Method Selection during
Accel/Decel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271, 446
Torque Limit Integral Time Constant . . . . . . . . . . . . . . . . 271, 446
Torque Limit Process at Start . . . . . . . . . . . . . . . . . . . . . . . . . . 271
Torque Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
Torque Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455
Torque Reference / Torque Limit Selection from Comm.
Option. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
Torque Reference at Previous Fault . . . . . . . . . . . . . . . . . . . . . 457
Torque Reference Delay Time . . . . . . . . . . . . . . . . . . . . . . . . . 193
Torque Saturation Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
Torque Specifications, Three Phase 200 V Class. . . . . . . . . . . . 69
Torque Specifications, Three Phase 400 V Class. . . . . . . . . . . . 70
Transistor Input Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Traveling Application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
Troubleshooting without Fault Display . . . . . . . . . . . . . . . . . . 340
TrPC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327
Tuning Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304
Types of Alarms, Faults, and Errors. . . . . . . . . . . . . . . . . . . . . 304
Types of Auto-Tuning for Induction Motors . . . . . . . . . . . . . . 114
Types of Auto-Tuning for Permanent Magnet Motors . . . . . . . 115
U
U Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455
U/T1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
U2, U3 Initialization. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292, 451
UL Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 526
UL Standards Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . 526
UL3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 307, 321, 328
UL4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 307, 321, 328
UL5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 321
Undertorque 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
Undertorque 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
Undertorque Detection 1. . . . . . . . . . . . . . . . . . . . . . 306, 321, 328
Undertorque Detection 2. . . . . . . . . . . . . . . . . . . . . . 306, 321, 328
Undertorque Detection Operation. . . . . . . . . . . . . . . . . . . . . . . 268
Undervoltage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 307, 328
Undervoltage 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322
Undervoltage 3 (Soft-Charge Bypass Circuit Fault). . . . . . . . . 322
Undervoltage Detection Level (Uv) . . . . . . . . . . . . . . . . . . . . . 442
Undervoltage Detection Level (Uv1) . . . . . . . . . . . . . . . . . . . . 257
Undervoltage Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
Unexpected Noise from Connected Machinery . . . . . . . . . . . . 344
Unidirectional Speed Limit Bias . . . . . . . . . . . . . . . . . . . . . . . 194
Unit Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
Unit Selection for MEMOBUS/Modbus Register 0025H . . . . 493
Unstable Motor Speed when Using PM. . . . . . . . . . . . . . . . . . 345
Up/Down 2 Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Up/Down 2 Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226
Up/Down Command Operation . . . . . . . . . . . . . . . . . . . . . . . . 221
Up/Down Frequency Reference Limit Selection . . . . . . . . . . . 189
USB Copy Unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128, 380
USB Port (type-B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
USB port (type-B). . . . . . . . . . . . . . . . . . . . . . . . . . . 34, 35, 36, 86
User Monitor Selection after Power Up . . . . . . . . . . . . . . 287, 450
User Parameter Automatic Selection . . . . . . . . . . . . 127, 136, 409
User Parameter Default Value . . . . . . . . . . . . . . . . . 127, 289, 451
User Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
User Parameters 1 to 32 . . . . . . . . . . . . . . . . . . . . . . 127, 136, 409
User Set Speed Agree 1 Time Chart . . . . . . . . . . . . . . . . . . . . . 229
User Set Speed Agree 2 Example with a Positive L3-04
Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
User-Set Display Units Decimal Display . . . . . . . . . . . . . . . . . 288
User-Set Display Units Maximum Value . . . . . . . . . . . . . . . . . 288
Using Braking Units in Parallel . . . . . . . . . . . . . . . . . . . . . . . . 387
Using the Pulse Train Output . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Using the Safe Disable Function . . . . . . . . . . . . . . . . . . . . . . . 530
Uv . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307, 328
Uv1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 321
Uv2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 322
Uv3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306, 322
V
-V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
V/f Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
V/f Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
V/f Control Mode Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
V/f Control Mode Tuning Parameters . . . . . . . . . . . . . . . . . . . 300
V/f control using motor speed feedback. . . . . . . . . . . . . . . . . . . 30
V/f Control with Simple Speed Feedback . . . . . . . . . . . . . . . . 244
V/f Data Setting Error. . . . . . . . . . . . . . . . . . . . . . . . . . . . 308, 331
V/f Gain During Speed Search . . . . . . . . . . . . . . . . . . . . . . . . . 150
V/f Pattern Default Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . 464
V/f Pattern Defaults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 464
V/f Pattern Display Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
V/f Pattern for Motor 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
V/f Pattern for Motor 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
V/f Pattern Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196, 343
V/T2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
vAEr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
VERIFY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
Verify Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Verifying Parameter Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
vFyE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
voF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322, 328
Voltage Class, Capacity Mismatch . . . . . . . . . . . . . . . . . . . . . . 337
554 YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual
Voltage Error Compensation Time Constant . . . . . . . . . . . . . . 286
vrFy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
W
W/T3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Warranty Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Water Supply Pump Application . . . . . . . . . . . . . . . . . . . . . . . 108
Watt Hour Output Example . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
Watt Hour Output Unit Selection. . . . . . . . . . . . . . . . . . . . . . . 236
Watt Loss 200 V Class Three Phase Models . . . . . . . . . . . . . . 401
Watt Loss 400 V Class Three Phase Models . . . . . . . . . . . . . . 401
Wire Gauge, Three Phase 200 V Class . . . . . . . . . . . . . . . . . . . 69
Wire Gauge, Three Phase 400 V Class . . . . . . . . . . . . . . . . . . . 70
Wire Gauges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68, 79
Wiring Checklist. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Wiring Diagram for 2-Wire Sequence . . . . . . . . . . . . . . . . . . . 224
Wiring Distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Wiring the Control Circuit Terminal . . . . . . . . . . . . . . . . . . . . . 79
WRITE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
Writing Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
Writing to Multiple Registers. . . . . . . . . . . . . . . . . . . . . . . . . . 500
Z
Z Pulse Correction Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
Z Pulse Fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
Z Pulse Noise Fault Detection . . . . . . . . . . . . . . . . . . . . . . . . . 312
Z Pulse Offset Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Zero Phase Reactor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
Zero Servo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Zero Servo Completion Width . . . . . . . . . . . . . . . . . . . . . . . . . 165
Zero Servo Fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
Zero Servo Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Zero-Speed Time Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
YASKAWA ELECTRIC SIEP C710616 21C YASKAWA AC Drive A1000 Technical Manual 555
Revision History
The revision dates and the numbers of the revised manuals appear on the bottom of the back cover.
Date of Publication Revision Number Section Revised Content
August 2009 All Addition: Larger drive capacities added along with corresponding data
Three-phase 400V: CIMR-A4A0414 to 0675
Revision: Review and corrected entire documentation
January 2009 All Addition: Larger drive capacities added along with corresponding data
Three-phase 200V: CIMR-A2A0250 to 0415
Three-phase 400V: CIMR-A4A0208 to 0362
H1- = 47 (Node Setup)
Revision: Review and corrected entire documentation
September 2008 First Edition
MANUAL NO. SIEP C710616 21B
Published in Japan January 2009 08-9 1
Date of publication
Date of original publication
Revision number
2
1
\ NC.JO-U {A4)`I~SQq
YASKAWA ELECTRIC CORPORATION
In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture
thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure
to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice for ongoing product modifications and improvements.
2008-2009 YASKAWA ELECTRIC CORPORATION. All rights reserved.
YASKAWA
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YASKAWA ELECTRIC (SHANGHAI) CO., LTD. BEIJING OFFICE
Room 1011A, Tower W3 Oriental Plaza, No. 1 East Chang An Ave.,
Dong Cheng District, Beijing, 100738, China
Phone: 86-10-8518-4086 Fax: 86-10-8518-4082
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Published in Japan August 2009 08-9
MANUAL NO. SIEP C710616 21C
09-1-1
YASKAWA AC Drive A1000
High Performance Vector Control Drive
Technical Manual
2 -0